Closure and quality equivalence for efficient synthesis of grasps from examples
Closure and quality equivalence for efficient synthesis of grasps from examples
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DOI：
10.1177/0278364904044402
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发表时间：
2004-06-01
影响因子：
9.2
通讯作者：
Pollard, NS
中科院分区：
文献类型：
--
作者：
Pollard, NS
机器人抓取选择的一个目标是选择能够保证力或形状闭合等特性的接触点。已经开发了许多有效的算法来解决这个问题，但大多数这些算法都集中在具有最小接触点数量的抓取上。增加接触的数量可以显著提高所构建的抓握的质量和灵活性。然而，计算时间成为一个问题，因为可以推广到任意数量的接触的抓取综合算法通常需要接触数量的时间指数。本文提出了一种综合多接触抓点的高效算法。关键思想是围绕单个示例以几何方式构建抓点族，这样一个族中的所有抓点都满足用户指定的设计目标。我们表明，我们的施工技术可以用来形成力闭抓点，部分力闭抓点，以及超过质量阈值的抓点。我们的方法需要接触数的时间多项式，使得处理相对大量接触的抓取是可行的。结果显示了具有5到12个接触的摩擦的三维抓手，专门用于各种任务。我们已经使用这种方法设计了机械手的抓握和类人机器人的准静态操纵方案。
One goal of grasp selection for robotics is to choose contact points that guarantee properties such as force- or form-closure. Many efficient algorithms have been developed to address this problem, but most of these algorithms focus on grasps having a minimal number of contact points. Increasing the number of contacts can dramatically improve the quality and flexibility, of grasps that are constructed. However, computation time becomes a problem, as grasp synthesis algorithms that can be generalized to an arbitrary number of contacts typically require time exponential in the number of contacts. This paper presents an efficient algorithm for synthesis of many contact grasps. The key idea is to geometrically construct families of grasps around a single example such that all grasps within a family meet user-specified design goals. We show that our construction technique can be used to form force-closure grasps, partial force-closure grasps, and grasps above a quality threshold. Our approach requires time polynomial in the number of contacts, making it feasible to handle grasps with relatively large numbers of contacts. Results are shown for three-dimensional grasps with friction having five to twelve contacts and specialized for a variety of tasks. We have used this approach to design grasps for a robot hand and quasi-static manipulation plans for a humanoid robot.