Grasp planning based on strategy extracted from demonstration
Grasp planning based on strategy extracted from demonstration
复制标题
根据示范提取策略把握规划
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Yu Sun
中科院分区：
文献类型：
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作者：
Yun Lin;Yu Sun
在本文中，我们讨论的信息，有利于机器人把握规划，可以从人类示范提取。我们提出了一种方法，集成把握意图：把握类型，和相对拇指的位置和方向把握对象的力闭合为基础的把握规划程序。而不是完全模仿人类的把握，把握类型和相对拇指位置的部分提取演示代表的任务属性和把握策略，并避免具有挑战性的运动学对应问题。抓握类型和拇指位置提供了在手姿势和手腕位置上的有意义的约束，而不是映射所演示的运动。机器人手的可行工作空间和抓取规划的搜索空间，从而大大减少了约束。这种方法已在模拟评估与巴雷特手和阴影的手在八个日常对象。
In this paper, we discuss information that is beneficial to robotic grasp planning and can be extracted from human demonstration. We present a method that integrates grasp intention: grasp type, and the relative thumb positions and orientations on the grasped object to the force-closure-based grasp planning procedure. Instead of completely mimicking the human grasp, grasp type and the relative thumb position are partially extracted from the demonstration to represent the task properties and grasp strategies, and avoid the challenging kinematic correspondence problem. Instead of mapping the demonstrated motion, the grasp type and thumb position provide meaningful constraints on hand posture and wrist position. Both the feasible workspace of a robotic hand and the search space of grasp planning are thereby highly reduced by the constraints. This approach has been evaluated in a simulation with a Barrett hand and a Shadow hand on eight daily objects.