Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
[Robotyka] Autorzy: Nan Wang, Mohit Yadav, Jonathan Wulff i 5 więcej
Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives are not independently commandable. We present Aero Hand Open, a tendon-driven anthropomorphic hand that is released simulation-ready. Three things ship with it. A simulation model reproduces the cable transmission itself. An identified actuation map connects that model to the motor commands in both…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka