Grabbing control method, device and equipment of dexterous hand and storage medium

Abstract

The invention discloses a dexterous hand grabbing control method and device, equipment and a storage medium. A grabbing posture signal of a dexterous hand is obtained, a grabbing path instruction of the dexterous hand is generated according to the grabbing posture signal, and the dexterous hand executes the grabbing path instruction to move to the periphery of an object to be grabbed; controlling the plurality of fingers on the dexterous hand to perform curvature shrinkage so as to grab the object to be grabbed; and in the grabbing process of the dexterous hand, current speed signals and current position signals of the multiple fingers are obtained, and whether grabbing is completed or not is judged based on the current speed signals and the current position signals. The requirement for the accuracy of the pose of the to-be-grabbed object is lowered, the to-be-grabbed object does not need to be accurately modeled in advance, and meanwhile the method is suitable for stable grabbing of the to-be-grabbed objects in various unconventional shapes.

Description

Technical Field

[0001] The present invention relates to the field of dexterous hand control, and in particular to a dexterous hand grasping control method, device, equipment and storage medium. Background Art

[0002] At present, the existing dexterous hands need to determine the shape of the object in advance to determine the grasping posture. In the process of grasping the object, it is necessary to accurately plan the posture, path and distance between the dexterous hand and the object, and at the same time, it is necessary to accurately control the speed of the dexterous hand to prevent accidental collisions, etc., resulting in the high complexity of the dexterous hand in actual grasping. There are problems such as huge actual workload, high control requirements, inconvenient use and high implementation difficulty.

[0003] At the same time, when the dexterous hand uses precise position control to achieve grasping, if the shape of the object is very regular, it will increase the difficulty of the dexterous hand's posture planning. In addition, there is still the problem of poor adaptability in actual grasping.

[0004] Based on the above problems, a new dexterous hand grasping method is urgently needed. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a grasping control method, device, equipment and storage medium for a dexterous hand. The present invention reduces the accuracy requirements for the position and posture of the grasped object, and does not require accurate modeling of the grasped object in advance. At the same time, it is suitable for the stable grasping of various unconventional shapes of grasped objects.

[0006] The present invention is achieved through the following technical solutions:

[0007] A grasping control method for a dexterous hand, the method comprising the following steps:

[0008] Acquiring a grasping posture signal of the dexterous hand, generating a grasping path instruction of the dexterous hand according to the grasping posture signal, and the dexterous hand executing the grasping path instruction to move to the periphery of the object to be grasped;

[0009] The multiple fingers on the dexterous hand are controlled to contract their curvature to grasp the object to be grasped; during the grasping process of the dexterous hand, the current speed signals and current position signals of the multiple fingers are obtained, and whether the grasping is completed is determined based on the current speed signals and the current position signals.

[0010] Furthermore, before controlling the plurality of fingers to contract their curvature, the method further comprises the following steps:

[0011] The plurality of fingers are controlled to enter a preset expansion state, wherein the preset expansion state is determined according to a grasping posture signal of the dexterous hand.

[0012] Further, judging whether the grasping is completed based on the current speed signal and the current position signal specifically includes the following steps:

[0013] Determine whether the change value of the current position signal and the change value of the current speed signal are 0;

[0014] If the change values ​​of the current position signals and the current speed signals of the plurality of fingers are 0, it is determined that the grasping is completed.

[0015] Furthermore, the method comprises the following steps:

[0016] During the grasping process of the dexterous hand, obtaining current position signals of a plurality of the fingers;

[0017] Calculating the current distance between the plurality of fingers based on the current position signals of the plurality of fingers;

[0018] Determine whether the current distance reaches a preset minimum posture requirement;

[0019] If it is judged that the minimum posture requirement is met, the grasping is considered to have failed.

[0020] Furthermore, the method further comprises the following steps:

[0021] When it is determined that the grasping fails, the grasping posture signal of the dexterous hand is re-acquired, and the grasping is repeated based on the re-acquired grasping posture information until the grasping is completed.

[0022] A grasping control device for a dexterous hand, the device comprising:

[0023] A path generation module, configured to respond to a grasping posture signal of the dexterous hand acquired previously, plan a motion path of the dexterous hand based on the grasping posture signal, and obtain a grasping path instruction;

[0024] A movement control module, based on the obtained grasping path instruction, the dexterous hand executes the grasping path instruction and moves to the periphery of the object to be grasped;

[0025] a curvature contraction module, which controls the plurality of fingers on the dexterous hand to contract their curvatures when the dexterous hand moves to the periphery of the object to be grasped, so as to grasp the object to be grasped;

[0026] A speed acquisition module, which acquires current speed signals and current position signals of the multiple fingers after the multiple fingers have contracted their curvature;

[0027] The grasping determination module determines whether the grasping of the grasped object is successful based on the current speed signals and current position signals of the plurality of fingers obtained by the speed acquisition module.

[0028] Furthermore, the device comprises:

[0029] The pre-expansion module controls the multiple fingers to expand in advance before the multiple fingers grasp, and the pre-expansion state is determined according to the grasping posture signal of the dexterous hand.

[0030] Furthermore, the grabbing identification module includes:

[0031] The current speed signal determination unit calculates the change value of the speed signal of the plurality of fingers at the current moment, and if the change value of the current speed signal of the plurality of fingers is 0, it is determined that the plurality of fingers currently meet the current speed signal change value requirement;

[0032] Current position signal determination unit: calculates the change value of the position signals of the multiple fingers at the current moment. If the change value of the current position signals of the multiple fingers is 0, it is determined that the multiple fingers currently meet the current position signal change value requirement.

[0033] An electronic device comprises: a processor and a memory for storing a computer program; wherein the processor is configured to implement the steps of the above-mentioned dexterous hand grasping control method when executing the computer program.

[0034] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned grasping control method of the dexterous hand.

[0035] Compared with the prior art, the present invention has the following beneficial technical effects:

[0036] The present invention obtains a grasping path instruction based on the grasping posture signal of the dexterous hand, controls the dexterous hand to move to the periphery of the object to be grasped through the grasping path instruction, and utilizes the curvature contraction of multiple fingers on the dexterous hand to realize the grasping of the object to be grasped. The present invention reduces the accuracy requirements for the posture of the object to be grasped, and does not need to accurately model the object to be grasped in advance. At the same time, it is suitable for the stable grasping of various unconventional shapes of objects to be grasped. It not only effectively reduces the complexity of the grasping posture planning of the dexterous hand, but also effectively improves the success rate of the grasping of the dexterous hand, thereby ensuring the accuracy of the grasping. The present invention realizes the grasping of the object to be grasped by contracting the curvature of multiple fingers of the dexterous hand, effectively compensating for the accuracy problem of the data obtained in advance. The torque control of this step ensures the applicability of various shapes of objects to be grasped.

[0037] Furthermore, the present invention can effectively compensate for the planning accuracy of the dexterous hand posture by pre-setting the expansion state before the curvature of multiple fingers is contracted, while increasing the success rate of grasping and reducing the possibility of misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A flowchart of a grasping control method of a dexterous hand provided in a preferred embodiment of the present invention;

[0040] Figure 2 A block diagram of a grasping control device for a dexterous hand provided in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0041] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0042] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0043] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] In the process of grasping, existing dexterous hands usually need to obtain the three-dimensional information of the object first, and then determine the precise grasping posture by obtaining the precise information of the object before grasping. However, it is very difficult to obtain the information of the actual object, and the accuracy of the information obtained often has errors. In addition, in actual grasping, there are certain limitations in the treatment of the grasped object itself.

[0045] In a preferred embodiment of the present invention, Figure 1 As shown, the present invention provides a grasping control method of a dexterous hand, the method comprising the following steps:

[0046] S100: Acquire the grasping posture signal of the dexterous hand to generate the grasping path instruction of the dexterous hand, and generate the grasping path instruction of the dexterous hand through the grasping posture signal of the dexterous hand; in this embodiment, path planning is performed only once before the dexterous hand grasps.

[0047] S200: Move to the periphery of the object to be grasped by executing the grasping path instruction. This can effectively prevent possible collisions during the actual grasping process of the dexterous hand. By moving the dexterous hand to the periphery of the object to be grasped, the accuracy of the ongoing path planning is reduced, and the problem of excessive computing power required for accurate identification is effectively reduced.

[0048] S300: Control the multiple fingers on the dexterous hand to contract their curvature to grasp the object to be grasped. By controlling the torque of the multiple fingers on the dexterous hand, the curvature contraction of the multiple fingers is achieved, thereby ensuring the stable grasping of the object to be grasped. By contracting the curvature of the multiple fingers of the dexterous hand, the grasping of the object to be grasped is achieved, and the accuracy problem of the data obtained previously is effectively compensated. Through the torque control of this step, the applicability of objects of various shapes to be grasped is guaranteed.

[0049] S400: During the grasping process of the dexterous hand, the current speed signals and current position signals of multiple fingers are obtained, and whether the grasping is completed is determined based on the current speed signals and current position signals. The accuracy of the monitoring is ensured by monitoring the two parameters of the current speed signals and current position signals of multiple fingers of the dexterous hand, and the grasping of the dexterous hand is adjusted in real time. Determine whether the change value of the current position signal and the change value of the current speed signal are 0; if the change value of the current position signal and the change value of the current speed signal of multiple fingers are 0, it is determined that the grasping is completed.

[0050] In this preferred embodiment, speed sensors are provided on the joints of multiple fingers. The speed sensors can be directly provided on the power structure of the finger joints. In this embodiment, the power structure adopts an electric cylinder. The current speed signal is obtained by the speed sensors provided on the multiple finger joints; the controller calculates the current position signal according to the current speed signal. The grasping judgment of the present invention is obtained by relying on the current speed signals of multiple fingers, which reduces the actual control complexity and effectively improves the grasping efficiency of the dexterous hand.

[0051] In this preferred embodiment, the posture of the object to be grasped of the present invention can be realized by a visual system, or can be realized by pre-setting on a controller. In this embodiment, the grasping posture signal of the dexterous hand is obtained by an image sensor, and the grasping posture signal of the dexterous hand is obtained by processing the image data obtained by the image sensor through a processor.

[0052] The image sensor is used to collect various image data, which can be a single camera or multiple cameras (such as RGB cameras, depth cameras or point cloud cameras, etc.), a video camera, or a mobile phone, tablet computer, laptop computer, desktop computer, etc. that includes a camera or a video camera.

[0053] In this preferred embodiment, a monocular camera is used to obtain image information for recognition. The image recognition of the present invention only requires rough recognition of the object to be grasped. The type and approximate shape of the object to be grasped are identified by the monocular camera to determine the pre-grasping position and posture of the dexterous hand.

[0054] Among them, the controller can be but is not limited to: a computer terminal (Personal Computer, PC); an industrial control computer terminal (Industrial Personal Computer, IPC); a mobile terminal; a server; a system including a terminal and a server, and realized through the interaction between the terminal and the server; a programmable logic controller (Programmable Logic Controller, PLC); a field programmable gate array (Field-Programmable Gate Array, FPGA); a digital signal processor (Digital Signal Processer, DSP) or a microcontroller unit (Microcontroller unit, MCU).

[0055] In a preferred embodiment of the present invention, multiple fingers enter an expanded state preset by the controller before curvature contraction. By expanding multiple fingers, the planning accuracy of the dexterous hand posture can be effectively compensated, and at the same time, the success rate of grasping is increased and the possibility of misoperation is reduced.

[0056] In a preferred embodiment of the present invention, during the grasping process of the dexterous hand, the current position signals of multiple fingers are obtained; based on the current position signals of the multiple fingers, the current distance between the multiple fingers is obtained; it is determined whether the current distance reaches the preset minimum posture requirement; if it is determined that the minimum posture requirement is reached, it is considered that the grasping has failed. When it is determined that the grasping has failed, the grasping posture signal of the dexterous hand is re-acquired, and the grasping is repeated based on the re-acquired grasping posture information until the grasping is completed.

[0057] like Figure 2As shown, this embodiment provides a grasping control device for a dexterous hand, which can be configured in an electronic device. The device may include: a path generation module, a movement control module, a curvature contraction module, a speed acquisition module, and a grasping judgment module.

[0058] A path generation module 10 is used to plan a motion path of the dexterous hand based on the grasping posture signal obtained previously, and obtain a grasping path instruction;

[0059] A movement control module 20, based on the obtained grasping path instruction, the dexterous hand executes the grasping path instruction and moves to the periphery of the object to be grasped;

[0060] The curvature contraction module 30 controls the plurality of fingers on the dexterous hand to contract their curvatures when the dexterous hand moves to the periphery of the object to be grasped, so as to grasp the object to be grasped.

[0061] The speed acquisition module 40 acquires current speed signals and current position signals of the multiple fingers after the multiple fingers have contracted their curvatures;

[0062] The grasping determination module 50 determines whether the grasping of the grasped object is successful based on the current speed signals and current position signals of the plurality of fingers obtained by the speed acquisition module.

[0063] It can be seen that the grasping control device of a dexterous hand provided in this embodiment obtains the grasping posture signal of the dexterous hand, generates the grasping path instruction of the dexterous hand according to the grasping posture signal, and the dexterous hand executes the grasping path instruction and moves to the periphery of the object to be grasped; controls the curvature contraction of multiple fingers on the dexterous hand to grasp the object to be grasped; in the grasping process of the dexterous hand, obtains the current speed signal and current position signal of multiple fingers, and judges whether the grasping is completed based on the current speed signal and current position signal. It not only effectively reduces the complexity of the grasping posture planning of the dexterous hand, but also effectively improves the success rate of the grasping of the dexterous hand, thereby ensuring the accuracy of grasping. At the same time, it is suitable for the stable grasping of various unconventional shapes of objects to be grasped.

[0064] The electronic device includes, for example, a robot arm, or a server, workstation, personal computer, mobile terminal (such as a mobile phone, tablet computer, etc.), wearable device (such as glasses, watches, etc.), robot, etc. as a robot control device. The robot may be, but is not limited to, a humanoid robot; or a robot connected in series or in parallel (such as a Delta robot, a four-axis robot, or a six-axis robot).

[0065] In a preferred embodiment of the present invention, a pre-expansion module is further included, which is used to control the pre-expansion of the multiple fingers before the multiple fingers grasp. The pre-expansion module can be written into the program of the controller in advance, or the pre-expansion module can be written into the processor during the actual grasping. The pre-expansion state is determined according to the grasping posture signal of the dexterous hand.

[0066] In a preferred embodiment of the present invention, the grasping determination module includes a current speed signal determination unit and a current position signal determination unit.

[0067] Among them, the current speed signal determination unit calculates the change value of the speed signal of the multiple fingers at the current moment. If the change value of the current speed signal of the multiple fingers is 0, it is determined that the multiple fingers currently meet the current speed signal change value requirement.

[0068] Among them, the current position signal determination unit calculates the change value of the position signals of the multiple fingers at the current moment. If the change value of the current position signals of the multiple fingers is 0, it is determined that the multiple fingers currently meet the current position signal change value requirements.

[0069] In an embodiment of the present invention, an electronic device is also provided, wherein the electronic device can be a mobile phone, a computer, a digital broadcast terminal, a message sending and receiving device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0070] The electronic device may include one or more of the following components: a processor, a memory, a power component, a multimedia component, an audio component, an input / output (I / O) interface, a sensor component, and a communication component.

[0071] In this embodiment, the processor may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor is used to run program codes stored in the memory or process data.

[0072] The processor generally controls the overall operation of the electronic device, such as display, phone calls, data communications, camera operations, and operations associated with recording operations. The processor may include one or more processors to execute instructions to complete all or part of the steps of the above-mentioned dexterous hand grasping control method. In addition, the processor may include one or more modules to facilitate the interaction between the processor and other components. For example, the processor may include a multimedia module to facilitate the interaction between the multimedia components and the processor.

[0073] The memory is configured to store various types of data to support the operation of the device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.

[0074] The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0075] The power assembly provides power to the various components of the device. The power assembly may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic devices.

[0076] The multimedia component includes a screen that provides an output interface between the electronic device and the user. In this embodiment, the screen may include a liquid crystal display panel and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In this embodiment, the multimedia component includes a front camera and / or a rear camera. When the device is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0077] The audio component is configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in a memory or sent via a communication component. In this embodiment, the audio component also includes a speaker for outputting an audio signal.

[0078] The I / O interface provides an interface between the processor and the peripheral interface module, which may be a keyboard, a click wheel, buttons, etc. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0079] The sensor assembly includes one or more sensors for providing various aspects of status assessment for the device. For example, the sensor assembly can detect the open / closed state of the device and the relative positioning of the components. For example, if the components are display panels and keypads of electronic devices, the sensor assembly can also detect changes in the position of the device or a component of the device, the presence or absence of user contact with the device, the orientation or acceleration / deceleration of the electronic device, and the temperature change of the device. The sensor assembly can also include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In the preferred embodiment, the sensor assembly can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0080] The communication component is configured to facilitate wired or wireless communication between the electronic device and other devices. The electronic device can access a wireless network based on a communication standard, and the wireless connection method can be but is not limited to 3G / 4G / 5G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultrawideband) connection, and other wireless connection methods currently known or developed in the future.

[0081] In this preferred embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In this embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies. In an exemplary embodiment, the electronic device can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above-mentioned robot arm plug-in control method.

[0082] The present invention also provides a computer-readable storage medium, including a memory of instructions, the instructions being executable by a processor of a device to implement the above-mentioned dexterous hand grasping control method, for example, a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0083] Among them, the memory includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc.

[0084] The memory may also be an external storage device of a computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the computer device.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method.

[0087] Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can essentially be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, disk, or CD), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0088] Among them, a computer device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0089] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with the user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0090] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0091] In addition, it should be understood that although this specification is described in accordance with the implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. The above content is only to illustrate the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A grasping control method for a dexterous hand, characterized in that: The method comprises the following steps: Acquiring a grasping posture signal of the dexterous hand, generating a grasping path instruction of the dexterous hand according to the grasping posture signal, and the dexterous hand executing the grasping path instruction to move to the periphery of the object to be grasped; The multiple fingers on the dexterous hand are controlled to contract their curvature to grasp the object to be grasped; during the grasping process of the dexterous hand, the current speed signals and current position signals of the multiple fingers are obtained, and whether the grasping is completed is determined based on the current speed signals and the current position signals.

2. The grasping control method of a dexterous hand according to claim 1, characterized in that: Before controlling the plurality of fingers to perform curvature contraction, the method further comprises the following steps: The plurality of fingers are controlled to enter a preset expansion state, wherein the preset expansion state is determined according to a grasping posture signal of the dexterous hand.

3. A grasping control method for a dexterous hand according to claim 1 or 2, characterized in that: The step of judging whether the grasping is completed based on the current speed signal and the current position signal specifically includes the following steps: Determine whether the change value of the current position signal and the change value of the current speed signal are 0; If the change values ​​of the current position signals and the current speed signals of the plurality of fingers are 0, it is determined that the grasping is completed.

4. A grasping control method for a dexterous hand according to claim 1 or 2, characterized in that: The method comprises the following steps: During the grasping process of the dexterous hand, obtaining current position signals of a plurality of the fingers; Calculating the current distance between the plurality of fingers based on the current position signals of the plurality of fingers; Determine whether the current distance reaches a preset minimum posture requirement; If it is judged that the minimum posture requirement is met, the grasping is considered to have failed.

5. The grasping control method of a dexterous hand according to claim 4, characterized in that: The method further comprises the steps of: When it is determined that the grasping fails, the grasping posture signal of the dexterous hand is re-acquired, and the grasping is repeated based on the re-acquired grasping posture information until the grasping is completed.

6. A grasping control device for a dexterous hand, characterized in that: The device comprises: A path generation module, configured to respond to a grasping posture signal of the dexterous hand acquired previously, plan a motion path of the dexterous hand based on the grasping posture signal, and obtain a grasping path instruction; A movement control module, based on the obtained grasping path instruction, the dexterous hand executes the grasping path instruction and moves to the periphery of the object to be grasped; a curvature contraction module, which controls the plurality of fingers on the dexterous hand to contract their curvatures when the dexterous hand moves to the periphery of the object to be grasped, so as to grasp the object to be grasped; A speed acquisition module, which acquires current speed signals and current position signals of the multiple fingers after the multiple fingers have contracted their curvatures; The grasping determination module determines whether the grasping of the grasped object is successful based on the current speed signals and current position signals of the plurality of fingers obtained by the speed acquisition module.

7. The grasping control device of a dexterous hand according to claim 6, characterized in that: The device comprises: The pre-expansion module controls the multiple fingers to expand in advance before the multiple fingers grasp, and the pre-expansion state is determined according to the grasping posture signal of the dexterous hand.

8. The grasping control device of a dexterous hand according to claim 6, characterized in that: The grabbing and distinguishing module comprises: The current speed signal determination unit calculates the change value of the speed signal of the plurality of fingers at the current moment, and if the change value of the current speed signal of the plurality of fingers is 0, it is determined that the plurality of fingers currently meet the current speed signal change value requirement; Current position signal determination unit: calculates the change value of the position signals of the multiple fingers at the current moment. If the change value of the current position signals of the multiple fingers is 0, it is determined that the multiple fingers currently meet the current position signal change value requirement.

9. An electronic device, characterized in that: The device comprises: a processor and a memory for storing a computer program; wherein the processor is configured to implement the steps of the grasping control method of the dexterous hand according to any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the grasping control method of the dexterous hand according to any one of claims 1 to 5 are implemented.

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