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  • 标题:The Role of Learning and Kinematic Features in Dexterous Manipulation: A Comparative Study with Two Robotic Hands
  • 作者:Anna Lisa Ciancio ; Loredana Zollo ; Gianluca Baldassarre
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2013
  • 卷号:10
  • 期号:10
  • 页码:340
  • DOI:10.5772/56479
  • 语种:English
  • 出版社:SAGE Publications
  • 摘要:Dexterous movements performed by the human hand are by far more sophisticated than those achieved by current humanoid robotic hands and systems used to control them. This work aims at providing a contribution in order to overcome this gap by proposing a bio-inspired control architecture that captures two key elements underlying human dexterity. The first is the progressive development of skilful control, often starting from – or involving – cyclic movements, based on trial-and-error learning processes and central pattern generators. The second element is the exploitation of a particular kinematic features of the human hand, i.e. the thumb opposition. The architecture is tested with two simulated robotic hands having different kinematic features and engaged in rotating spheres, cylinders, and cubes of different sizes. The results support the feasibility of the proposed approach and show the potential of the model to allow a better understanding of the control mechanisms and kinematic principles underlying human dexterity and make them transferable to anthropomorphic robotic hands.
  • 关键词:Robotic Manipulation; Bio-Inspired Control; Hierarchical Neural Network; Central Pattern Generator; Reinforcement Learning
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