A strategy for grasp synthesis with multifingered robot hands
A strategy for grasp synthesis with multifingered robot hands
复制标题
多指机器人手的抓取合成策略
DOI：
10.1109/robot.1987.1087842
复制
发表时间：
1987
期刊：
影响因子：
--
通讯作者：
W. Karplus
中科院分区：
文献类型：
--
作者：
R. Tomovic;G. Bekey;W. Karplus
本文提出了一种综合多指灵巧机械手到达并安全抓取任意目标对象所需控制的方法。这一综合是基于对人类执行的抓取任务的分析。我们将任务划分为(1)目标接近阶段(包括目标识别、手的结构和抓取模式选择、接近轨迹的选择、手的预成形和定向)和(2)抓取执行阶段(包括形状和力的适应)。文中讨论了所需控制的各个方面。特别注意几何建模在目标识别中的作用，在接近轨迹过程中的预成形，以及在完成抓取任务时对自主性的要求。基本的哲学是反射控制；抓取任务的每个方面都是使用感觉数据和源于人类在此类任务中的专业知识的行为规则来启动和终止的。讨论了编码这一专门知识的知识库的内容和组织。这一控制哲学所依据的基本假设贯穿了整篇文章。给出了手部预成形的图形模拟的初步结果。
This paper presents an approach to synthesizing the control required by a dextrous multifingered robot hand to reach and safely grasp an arbitrary target object. The synthesis is based on analysis of the grasping task as performed by human beings. We divide the task into (1) a target approach phase (including target identification, hand structure and grasp mode selection, selection of approach trajectory, hand preshaping and orientation) and (2) a grasp execution phase (including shape and force adaptation). Each aspect of the required control is discussed. Particular attention is paid to the role of geometric modeling in target identification, to preshaping during the approach trajectory and to the requirements for autonomy in completion of the grasping task. The underlying philosophy is that of reflex control; each aspect of the grasping task is initiated and terminated using sensory data and rules of behavior derived from human expertise in such tasks. The contents and organization of the knowledge base which codifies this expertise are discussed. The fundamental assumptions upon which this control philosophy is based are identified throughout the paper. Preliminary results of a graphical simulation of hand preshaping are given.