Post-Contact, In-Hand Object Motion Compensation With Adaptive Hands
Post-Contact, In-Hand Object Motion Compensation With Adaptive Hands
复制标题
使用自适应手进行接触后、手中的物体运动补偿
DOI：
--
复制
发表时间：
2018
影响因子：
5.6
通讯作者：
A. Dollar
中科院分区：
文献类型：
--
作者：
Minas Liarokapis;A. Dollar
在本文中，我们提出了一种基于约束优化方法的方法，用于估计和补偿接触后的寄生对象运动欠驱动，符合机器人的手，并获得稳定的，最小的努力把握，试图尽量减少这些运动。要做到这一点，我们计算不同的手设计，对象形状和对象大小的对象运动，我们合成适当的机器人手臂轨迹，消除他们，即使在手中复杂的弯曲为基础的顺应性成员。以一个七自由度机器人手臂为例，验证了所提方法的有效性（Barrett WAM）和一系列柔顺欠驱动机器人手（Yale OpenHand型号T42 PP、T42 PF和T42 FF）。从业者注意-在精确指尖抓握期间，自适应手倾向于在接触时将物体移动到由机构的弹性和施加在手-物体系统上的力确定的平衡配置。这样的行为对于某些任务（例如，当抓满一杯水时，手中物体的扰动可能会使水溢出）。在本文中，我们提出了一种方法，自适应的手，得到稳定的最小努力把握，计算后接触寄生对象的运动，并消除它们使用补偿运动的机器人手臂。
In this paper, we present a methodology based on constrained optimization methods for estimating and compensating for post-contact parasitic object motions for underactuated, compliant robot hands and for deriving stable, minimal effort grasps to try to minimize these movements. To do so, we compute the object motions for different hand designs, object shapes, and object sizes and we synthesize appropriate robot arm trajectories that eliminate them, even in hands with complex flexure-based compliant members. The effectiveness of the proposed methods is validated using a seven DOF robot arm (Barrett WAM) and a range of compliant underactuated robot hands (Yale OpenHand models T42PP, T42PF, and T42FF).Note to Practitioners—During precision fingertip grasps, adaptive hands tend to move the object upon contact, to an equilibrium configuration determined by the elasticity of the mechanism and the forces exerted on the hand-object system. Such a behavior may be undesired for certain tasks (e.g., when grasping a full glass of water, the in-hand object perturbations may spill the water). In this paper, we propose a methodology for adaptive hands that derives stable minimal effort grasps, computes the post-contact parasitic object motions, and eliminates them using compensatory motions of a robot arm.