Adaptive Force Planning-Integrated Coupled Dynamical Systems for Underwater Soft Hands Grasping Stability Under Marine Disturbances

Abstract

As critical end-effectors enabling the practical deployment of marine robotic systems, soft hands face persistent challenges including multi-finger asynchronization, unbalanced force distribution, and insufficient anti-disturbance robustness, compounded by constraints from soft material nonlinearity and harsh marine environmental disturbances. To address these limitations, this paper proposes a dexterous grasping method integrating coupled dynamical systems and adaptive force planning control, designed to enhance operational reliability in complex marine environments. An intermediate dynamic layer is embedded to ensure precise multi-finger synchronization, a hybrid force planning algorithm balances force uniformity and constraint satisfaction, and an adaptive controller synergizes with a Neo-Hookean model to compensate for nonlinear deviations. Simulations and physical experiments demonstrate that the method delivers excellent grasping stability and accuracy for uneven mass distribution targets such as cylinders and spheres, while balancing synchronization precision, constraint compliance, and anti-disturbance capability. Compared with the traditional coupled dynamical systems (DSs), the constraint violation is reduced by up to 18.2%, the friction force is increased by 4.0%, and the force distribution uniformity is improved by approximately 5.1%.Compared with the particle swarm optimization (PSO) strategy, the constraint violation is reduced by up to 50.5%, the friction force is increased by 40.9%, and the force distribution uniformity is also improved by about 5.1%. This work fills a key gap in balancing multiple performance metrics for marine soft hands, providing a reliable technical solution to accelerate the real-world deployment of marine robotic systems.

Bibliographic Information