الملخص
تمت ترجمة أجزاء من هذه الصفحة آلياً وقد تحتوي على أخطاء.
Dexterous grasping requires deciding where to grasp, reaching the target, and maintaining stable contact. We connect these stages through a compact three-point interface that separates global geometric reasoning from local contact control. Given object geometry and optional language commands, our framework samples contact triples from a precomputed grasp-affordance heatmap. A model-based reactive controller tracks the object, avoids collisions, and guides the hand toward the selected contacts. In the final centimeters, a Reinforcement Learning (RL) policy uses proprioceptive feedback to refine and stabilize the grasp despite reaching and perception errors. It observes only finger joint states and its recent actions, with no target points, visual observations, or object geometry, so a single policy is shared across objects and grasp configurations. In simulation, we compare grasp-and-lift success against squeeze and end-to-end baselines, characterize reaching convergence, and demonstrate grasp steering; hardware demonstrations on two training objects and one unseen object illustrate the full pipeline. Our modular framework uses geometry to guide the reach and local feedback to secure the grasp.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Nguyen, A., Lee, Y., & Kim, S. (2026). قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط. https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface
MLA 9
Nguyen, Andrew, et al. "قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط." https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface.
شيكاغو (المؤلف–التاريخ)
Nguyen, Andrew, Yonghyeon Lee, and Sangbae Kim. 2026. "قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط." https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface.
هارفارد
Nguyen, A., Lee, Y. and Kim, S. (2026) 'قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط', Available at: https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface.
فانكوفر
Nguyen A, Lee Y, Kim S. قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط. https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface
IEEE
A. Nguyen, Y. Lee, and S. Kim, "قبض قابل للتوجيه والتفاعل عبر تصميم معياري بواجهة ثلاثية النقاط," https://omanscience.com/ar/articles/steerable-and-reactive-grasping-through-modular-design-with-a-three-point-interface.