Posture-based motion planning: applications to grasping.
Posture-based motion planning: applications to grasping.
复制标题
基于姿势的运动规划：在抓取中的应用。
DOI：
10.1037/0033-295x.108.4.709
复制
发表时间：
2001
影响因子：
5.4
通讯作者：
Jansen,C
中科院分区：
文献类型：
--
作者：
Rosenbaum,DA;Meulenbroek,RJ;Vaughan,J;Jansen,C
本文介绍了一个模型的运动规划实例化抓取。根据该模型，运动规划的最重要的方面之一是建立一个约束层次-一组优先级的要求，定义要执行的任务。对于抓取，约束包括避免与要抓取的物体碰撞和最小化与运动相关的努力。这些和其他约束与实例检索（调用存储的姿势）和实例生成（生成新的姿势和运动）相结合，以模拟灵活的扩展。动态的最后期限设置是用来调节终止的实例生成，和性能的一个以上的运动在同一时间与一个单一的效应器是用来允许避障。新老数据都在模型中得到了体现。
This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a constraint hierarchy—a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model.