Exploitation of environmental constraints in human and robotic grasping
Exploitation of environmental constraints in human and robotic grasping
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DOI：
10.1177/0278364914559753
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发表时间：
2015-06-01
影响因子：
9.2
通讯作者：
Brock, Oliver
中科院分区：
文献类型：
--
作者：
Eppner, Clemens;Deimel, Raphael;Brock, Oliver
我们对这样一个前提进行研究：通过利用环境中存在的约束条件能够实现稳健的抓取性能。这些通过接触运动加以利用的约束条件，抵消了与抓取成功相关的状态变量中的不确定性。基于这一前提，抓取就变成了一个对环境约束条件进行连续利用的过程，直至实现成功抓取。我们通过对人类抓取行为的分析以及展示基于利用约束的抓取策略的稳健机器人抓取，为这一观点提供了支持。此外，我们还表明，可以设计出具有利用环境约束的固有能力的机器人手。
We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.