Planning in-hand object manipulation with multifingered hands considering task constraints
Planning in-hand object manipulation with multifingered hands considering task constraints
复制标题
考虑任务限制，规划用多指手进行的手持物体操作
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
C. Borst
中科院分区：
文献类型：
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作者：
K. Hertkorn;M. Roa;C. Borst
多指手的手内操作被定义为改变对象的姿势从初始到最终的把握配置，同时保持指尖接触的对象表面上。仅给定任务约束，表示为对象的期望运动和要施加或抵抗的外力，问题可以表示为找到对象上的一组良好的接触点和与要执行的任务兼容的对应的手配置。本文提出了一种解决此类问题的方法，考虑到运动学结构和转矩限制的手，力闭合条件（必须保证在整个轨迹），和任务的兼容性。通过二维和三维算例的仿真验证了该方法的可行性。
In-hand manipulation with a multifinger hand is defined as changing the object pose from an initial to a final grasp configuration, while maintaining the fingertip contacts on the object surface. Given only the task constraints, represented as a desired motion of the object and an external force to be applied or resisted, the problem can be expressed as finding a good set of contact points on the object and a corresponding hand configuration compatible with the task to be executed. This paper presents a method for solving such problem, taking into account the kinematic structure and torque limits of the hand, the force closure condition (which must be guaranteed during the whole trajectory), and task compatibility. The feasibility of such method is tested in simulation of 2D and 3D examples.