A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods

doi:10.3389/fnbot.2022.843267

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 机器人应用与理论组

	A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods
	Li, Yinlin 6; Wang, Peng 4,5,6; Li, Rui 3; Tao, Mo 1,2; Liu, Zhiyong 5,6; Qiao, Hong 5,6
刊名	FRONTIERS IN NEUROROBOTICS
	2022-04-27
卷号	16 页码:21
关键词	multifingered hand visual-motor control multi-mode fusion hand structural evolution learning-based manipulation
ISSN号	1662-5218
DOI	10.3389/fnbot.2022.843267
通讯作者	Li, Rui(rui.li@cqu.edu.cn)
英文摘要	Multifingered robotic hands (usually referred to as dexterous hands) are designed to achieve human-level or human-like manipulations for robots or as prostheses for the disabled. The research dates back 30 years ago, yet, there remain great challenges to effectively design and control them due to their high dimensionality of configuration, frequently switched interaction modes, and various task generalization requirements. This article aims to give a brief overview of multifingered robotic manipulation from three aspects: a) the biological results, b) the structural evolvements, and c) the learning methods, and discuss potential future directions. First, we investigate the structure and principle of hand-centered visual sensing, tactile sensing, and motor control and related behavioral results. Then, we review several typical multifingered dexterous hands from task scenarios, actuation mechanisms, and in-hand sensors points. Third, we report the recent progress of various learning-based multifingered manipulation methods, including but not limited to reinforcement learning, imitation learning, and other sub-class methods. The article concludes with open issues and our thoughts on future directions.
资助项目	National Key Research and Development Plan of China[2020AAA0108902] ; National Natural Science Foundation of China[62003059] ; National Natural Science Foundation of China[61702516] ; China Postdoctoral Science Foundation[2020M673136] ; Open Fund of Science and Technology on Thermal Energy and Power Laboratory, Wuhan 2nd Ship Design and Research Institute, Wuhan, P.R. China[TPL2020C02] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] ; InnoHK
WOS关键词	SYNERGY-BASED CONTROL ; DEXTEROUS MANIPULATION ; PARIETAL CORTEX ; MOTOR ; HAND ; GRASP ; ORIENTATION ; DESIGN ; REPRESENTATION ; OBJECT
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
语种	英语
出版者	FRONTIERS MEDIA SA
WOS记录号	WOS:000795888100001
资助机构	National Key Research and Development Plan of China ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation ; Open Fund of Science and Technology on Thermal Energy and Power Laboratory, Wuhan 2nd Ship Design and Research Institute, Wuhan, P.R. China ; Strategic Priority Research Program of Chinese Academy of Science ; InnoHK
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49437]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者	Li, Rui
作者单位	1.Beihang Univ, Sch Automation Sci & Elect Engn, Beijing, Peoples R China 2.Wuhan Second Ship Design & Res Inst, Sci & Technol Thermal Energy & Power Lab, Wuhan, Peoples R China 3.Chongqing Univ, Sch Automation, Chongqing, Peoples R China 4.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr Artificial Intelligence & Robot, Hong Kong, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 6.Chinese Acad Sci, Inst Automation, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Li, Yinlin,Wang, Peng,Li, Rui,et al. A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods[J]. FRONTIERS IN NEUROROBOTICS,2022,16:21.
APA	Li, Yinlin,Wang, Peng,Li, Rui,Tao, Mo,Liu, Zhiyong,&Qiao, Hong.(2022).A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods.FRONTIERS IN NEUROROBOTICS,16,21.
MLA	Li, Yinlin,et al."A Survey of Multifingered Robotic Manipulation: Biological Results, Structural Evolvements, and Learning Methods".FRONTIERS IN NEUROROBOTICS 16(2022):21.