Synthesizing grasp configurations with specified contact regions
This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same p...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/13058 |
| Acceso en línea: | https://hdl.handle.net/2117/13058 https://dx.doi.org/10.1177/0278364910370218 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots--Control systems inverse kinematics anthropomorphic hand prehension robots PARAULES AUTOR: configuration problem precision grasp grasp planning grasp synthesis contact constraint position analysis Robòtica Mans mecàniques Àrees temàtiques de la UPC::Informàtica::Robòtica Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi- ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. |
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