Efficient modular grasping: An iterative approach
Efficient modular grasping: An iterative approach
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高效的模块化抓取：迭代方法
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
D. Prattichizzo
中科院分区：
文献类型：
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作者：
F. Sanfilippo;G. Salvietti;Houxiang Zhang;H. P. Hildre;D. Prattichizzo
本文介绍了一种新的模块化的方法，机器人抓，允许找到一个简单的抓手和更复杂的人像机械手之间的权衡。机器人抓取的模块化方法旨在了解人类的抓取行为，以便使用简单，鲁棒和灵活的模块用人工手复制抓取和熟练的手内运动。在这项工作中，能够适应不同的要求和情况下的模块化抓取装置的设计进行了研究。提出了一种新的算法，确定有效的模块化配置，以获得有效的把握给定的对象。所得到的模块化配置能够执行人类将认为“稳定”的有效抓握。通过仿真实验验证了算法的有效性。初步结果表明，在设计夹具的模块化方法的多功能性。
This paper introduces a new modular approach to robotic grasping that allows for finding a trade off between a simple gripper and more complex human like manipulators. The modular approach to robotic grasping aims to understand human grasping behavior in order to replicate grasping and skilled in-hand movements with an artificial hand using simple, robust, and flexible modules. In this work, the design of modular grasping devices capable of adapting to different requirements and situations is investigated. A novel algorithm that determines effective modular configurations to get efficient grasps of given objects is presented. The resulting modular configurations are able to perform effective grasps that a human would consider “stable”. Related simulations were carried out to validate the efficiency of the algorithm. Preliminary results show the versatility of the modular approach in designing grippers.