Bimanual grasp planning
Bimanual grasp planning
复制标题
双手抓握规划
DOI：
10.1109/humanoids.2011.6100824
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
R. Dillmann
中科院分区：
文献类型：
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作者：
N. Vahrenkamp;Markus Przybylski;T. Asfour;R. Dillmann
双手抓取大型物体的能力使双手机器人系统能够在以人为中心的环境中充分发挥其能力。因此，需要算法来预先计算可以在线使用以有效地创建全身抓握的双手抓握配置。在这项工作中，我们提出了一个双手掌握规划，可用于建立一套掌握一起为给定的对象的可操作性信息。为了有效的把握规划预先计算的可达性信息和有益的对象表示，中轴描述的基础上，使用。由于双手掌握可能会遭受低的可操作性，所造成的一个封闭的运动链，我们展示了如何双手掌握的可操作性可以作为一个质量的措施。因此，可操作性集群被引入作为一种有效的方法来近似描述一个给定的双手抓持的可操作性。基于Simox [1]，针对仿人机器人ARMAR-III [2]，使用参考实现对所提出的方法进行了评估。由于所提出的算法是机器人独立的，有没有限制，使用其他机器人系统的规划。
The ability to grasp large objects with both hands enables bimanual robot systems to fully employ their capabilities in human-centered environments. Hence, algorithms are needed to precompute bimanual grasping configurations that can be used online to efficiently create whole body grasps. In this work we present a bimanual grasp planner that can be used to build a set of grasps together with manipulability information for a given object. For efficient grasp planning precomputed reachability information and a beneficial object representation, based on medial axis descriptions, are used. Since bimanual grasps may suffer from low manipulability, caused by a closed kinematic chain, we show how the manipulability of a bimanual grasp can be used as a quality measure. Therefore, manipulability clusters are introduced as an efficient way to approximatively describe the manipulability of a given bimanual grasp. The proposed approach is evaluated with a reference implementation, based on Simox [1], for the humanoid robot ARMAR-III [2]. Since the presented algorithms are robot-independent, there are no limitations for using this planner on other robot systems.