Detection and evaluation of grasping positions for autonomous agents
Detection and evaluation of grasping positions for autonomous agents
复制标题
自主智能体抓取位置的检测和评估
DOI：
10.1109/cw.2005.39
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
M. Nakajima
中科院分区：
文献类型：
--
作者：
Fumihito Kyota;Tomoyuki Watabe;S. Saito;M. Nakajima
对于具有手的类人智能体来说，抓取物体的动作是其在虚拟世界中自主进化的重要环节。如果一个agent接到“抓取对象”的命令，他必须确定要抓取的对象的部分。为了确定抓取位置，必须识别三维几何形状的形式，并检测适合抓取的部分。假设物体被单手抓住，我们提出了两种技术来检测物体表面上要抓住的适当部分和产生抓取姿势。在本文中，我们的主要贡献如下：首先是检测物体表面上适当的要抓取的部分；二是形成手形，以掌握各种形状的物体。利用这两种方法，计算了每个人的抓握位置和手的形状。此外，利用机器人技术对这些位置的稳定性进行了评估
The action of grasping an object is very important for a humanoid agent with hand, evolving autonomously in a virtual world. If an agent is given the order "grasp the object", he has to determine the portion of the object to grasp. In order to determine a grasping position, it is necessary to recognize the form of the 3-dimensional geometry, and detect portions which are suitable for grasp. Assuming that the object is grasped by one hand, we propose two techniques for detecting appropriate portions to be grasped on the surface of an object and for generating the grasping postures. In this paper, our main contributions are as follows: the first is the detection of appropriate portions to be grasped on the surface of an object; the second is the formation of the hand shape to grasp various shaped objects. Using the two proposing methods, grasped positions and the hand shapes for each of them are computed. Moreover, these positions are evaluated by their stabilities using the robotics technique