Grasp Database That Covers Variation of Contact Region Usage
Grasp Database That Covers Variation of Contact Region Usage
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DOI：
10.1109/smc.2013.450
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
N. Miyata;Takayoshi Hironom;Y. Maeda
中科院分区：
文献类型：
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作者：
N. Miyata;Takayoshi Hironom;Y. Maeda
本文提出了一种新的方法来建立一个人的把握数据库，考虑接触区域的把握姿态合成。为了覆盖抓取时接触物体的所有类型的手表面区域，扩展了其他研究中的抓取分类法。对于每种区域使用模式，我们收集了几种区域之间距离不同的姿势变化。总共收集了107种区域使用模式的801种姿势。在给定目标接触状态的情况下，利用所建立的数据库，通过基于优化调整的插值生成抓取新物体的姿态。
This paper proposes a novel approach to build a human grasp database that considers contact regions for grasping posture synthesis. To cover all types of hand surface regions contacting an object when grasping, the grasp taxonomy from other research was extended. For each pattern of region usage, we collected several posture variations that differ in the distance between regions. In total, 801 postures were collected for 107 patterns of region usage. A posture to grasp a new object was generated by interpolation with optimization-based adjustment using the proposed database, given a goal contact state of the hand with the object.