Optimal grasping based on non-dimensionalized performance indices
Optimal grasping based on non-dimensionalized performance indices
复制标题
基于无量纲性能指标的最优抓取
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
I. Suh
中科院分区：
文献类型：
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作者：
Byoung;Sang;B. Yi;I. Suh
对于多指手来说，稳定抓取物体的方式有很多种，因此需要进行最优抓取规划，以找到实现给定任务目标的最优抓取点。首先，我们定义了几个抓点指标来评价每个可行抓点的质量。由于所定义的抓取指标的物理含义各不相同，因此不容易将这些指标结合起来确定最优抓取。在本文中，我们提出了一个新的广义抓取性能指标，将所有抓取指标表示为一个基于无量纲技术的度量。仿真结果表明，所提出的最优抓取规划与人类抓取的物理感觉相似。
For a multi-fingered hand to grasp an object, there are numerous ways to grasp it stably, and thus an optimal grasp planning is necessary to find the optimal grasp point for achieving the objective of the given task. First, we define several grasp indices to evaluate the quality of each feasible grasp. Since the physical meanings of the defined grasp induces are different from each other, it is not easy to combine those indices to identify the optimal grasping. In this paper, we propose a new generalized grasping performance index to represent all of the grasp indices as one measure based on a non-dimensional technique. Through simulations, we show that the proposed optimal grasp planning is resemblant to the physical sense of human grasping.