仿人灵巧手的稳定抓取方法研究综述

As a significant tool to lead a new round of technological revolution and industrial transformation, the humanoid robots equipped with humanoid dexterous hands having the capability of human-like grasping are expected to assist or even replace humans in performing delicate and complex tasks in various application scenarios, such as industrial production, household services and counter-terrorism. The stable grasping methods for humanoid dexterous hands in different application scenarios are comprehensively reviewed in this paper. The implementation forms of stable grasping configurations for humanoid dexterous hands with different structures are outlined, the methods for analyzing and estimating the contact states based on exteroceptive sensing / proprioceptive sensing for humanoid dexterous hands are summarized, and the techniques for detecting and recognizing the grasping states of humanoid dexterous hands when engaging with objects in global relative motion / local relative motion are categorized. And then the commonly used control strategies are presented for stable grasping with humanoid dexterous hands. The strengths and limitations of the aforementioned methods in the application of humanoid dexterous hands during contact and grasping processes are We analyzed, the challenges in the research of stable grasping methods posed by factors such as soft materials, dynamic environments are discussed, and an outlook on research trends and their applications in humanoid robots is provided.