[论文] Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Ma...

论文概要

研究领域: ML 作者: Nan Wang, Mohit Yadav, Jonathan Wulff, Aidan Rosenbaum, Kezhou Chen, Yuvan Sharma, Xu Dong, Yiwei Tao 发布时间: 2026-08-28 arXiv: 2608.28578

中文摘要

肌腱驱动手具有拟人化特性，将执行器移出关节是使这种能力的手得以负担得起的关键。两个效应产生了这种节省：通过缆绳传递力消除了电机必须安装在所驱动关节内部的要求，因此可以使用更小更便宜的电机；一个电机可以通过单根缆绳驱动多个关节，因此需要更少的电机。然而，它们比直接驱动手更难学习。产生节省的欠驱动传动本身难以在仿真器中表示，且一根缆绳驱动的关节不能独立控制。我们推出了Aero Hand Open，一个发布即仿真就绪的肌腱驱动拟人手。随附三个组件：一个仿真模型复现缆绳传动本身；一个识别的驱动映射将该模型连接到电机命令（双向），包括拇指的三向耦合；一个强化学习包用于训练手的策略。三者结合使策略可以完全在仿真中训练并直接在手上运行，无需微调也无需状态估计。我们发布了机械设计、仿真模型、识别映射、训练环境和部署栈。

原文摘要

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...

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