拟人手如何用五指实现自支撑移动与操作

HuggingFace Daily Papers(社区热门论文)·2026-09-15 08:00·2天前
AI 导读

一项研究让拟人手用同一组手指完成移动、支撑体重与环境交互,且保留原有手指设计与位置控制器。该方法用强化学习应对手指不均衡问题,并在依据硬件测量校准的模拟器中训练,其奖励公式下的移动速度快于为四足机器人调优的奖励。硬件上,任务专用策略实现了无缆爬行、转向与跌倒恢复,还能在无视觉条件下执行连续键盘指令,并借助俯视视觉反馈将物体推至目标。

HuggingFace Daily Papers(社区热门论文)
42AI 编辑部评分,满分 100

拟人手如何用五指实现自支撑移动与操作

2026-09-15 08:00· 2天前
AI 导读

一项研究让拟人手用同一组手指完成移动、支撑体重与环境交互,且保留原有手指设计与位置控制器。该方法用强化学习应对手指不均衡问题,并在依据硬件测量校准的模拟器中训练,其奖励公式下的移动速度快于为四足机器人调优的奖励。硬件上,任务专用策略实现了无缆爬行、转向与跌倒恢复,还能在无视觉条件下执行连续键盘指令,并借助俯视视觉反馈将物体推至目标。

A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the environment. We show how an anthropomorphic hand can learn these skills while retaining its finger design and position controller. Onboard power and computation make the platform self-contained. Our reinforcement learning approach accounts for the hand's unequal fingers, with training in a simulator calibrated from hardware measurements. In simulation, the hand moves faster with our reward formulation than with tuned rewards originally designed for quadrupeds. On hardware, task-specific policies enable untethered crawling, steering, and fall recovery. While supporting its own weight, the hand also executes successive keyboard commands without vision and pushes an object to targets using overhead visual feedback. These results demonstrate a compact mobile manipulator that reuses its fingers for locomotion and interaction, without a separate locomotion mechanism.

来源:HuggingFace Daily Papers(社区热门论文)· arxiv.org