Grasp Synthesis from Example: Tuning the Example to a Task or Object
Grasp Synthesis from Example: Tuning the Example to a Task or Object
复制标题
从示例中掌握综合：将示例调整为任务或对象
DOI：
10.1007/11429555_5
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Alon Wolf
中科院分区：
文献类型：
--
作者：
Nancy S. Pollard;Alon Wolf
AbstractMany方法来把握合成不缩放以及所需的接触数的增加。在以前的工作[223]中，我们已经提出了一种技术，该技术利用示例抓取来使具有大量接触的抓取的合成易于处理。然而，这种方法的一个有趣的副作用是，结果可能会发现示例中存在的异常，其中一些可能是不希望的。我们开始探索技术，以调整一个特定的任务扳手集合和给定的对象几何形状的例子掌握。本章介绍初步结果。
AbstractMany approaches to grasp synthesis do not scale well as the desired number of contacts is increased. In previous work [223], we have presented a technique that makes use of an example grasp to make synthesis tractable for grasps having larger numbers of contacts. However, an interesting side effect of this approach is that results can pick up quirks that are present in the example, some of which may be undesirable. We are beginning to explore techniques to tune an example grasp for a specific collection of task wrenches and to a given object geometry. This chapter presents preliminary results.