Human-like dexterous manipulation for anthropomorphic five-fingered hands:A review  

作　　者：Yayu Huang Dongxuan Fan Haonan Duan Dashun Yan Wen Qi Jia Sun Qian Liu Peng Wang 

机构地区：[1]Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [2]School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China [3]Centre for Artificial Intelligence and Robotics,Hong Kong Institute of Science and Innovation,Chinese Academy of Sciences,Hong Kong 999077,China

出　　处：《Biomimetic Intelligence & Robotics》2025年第1期35-57,共23页仿生智能与机器人(英文)

基　　金：supported in part by the National Natural Science Foundation of China(91748131,62006229,and 61771471);in part by Young Scientists Fund of the National Natural Science Foundation of China(62303454);in part by the Strategic Priority Research Program of Chinese Academy of Science(XDB32050106);in part by the InnoHK Project.

摘　　要：Humans excel at dexterous manipulation;however,achieving human-level dexterity remains a significant challenge for robots.Technological breakthroughs in the design of anthropomorphic robotic hands,as well as advancements in visual and tactile perception,have demonstrated significant advantages in addressing this issue.However,coping with the inevitable uncertainty caused by unstructured and dynamic environments in human-like dexterous manipulation tasks,especially for anthropomorphic five-fingered hands,remains an open problem.In this paper,we present a focused review of human-like dexterous manipulation for anthropomorphic five-fingered hands.We begin by defining human-like dexterity and outlining the tasks associated with human-like robot dexterous manipulation.Subsequently,we delve into anthropomorphism and anthropomorphic five-fingered hands,covering definitions,robotic design,and evaluation criteria.Furthermore,we review the learning methods for achieving human-like dexterity in anthropomorphic five-fingered hands,including imitation learning,reinforcement learning and their integration.Finally,we discuss the existing challenges and propose future research directions.This review aims to stimulate interest in scientific research and future applications.

关 键 词：Anthropomorphic five-fingered hands Human-like dexterous manipulation Robot learning REVIEW 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]