Vision-aided object manipulation by a multifingered hand with soft fingertips
Vision-aided object manipulation by a multifingered hand with soft fingertips
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通过具有柔软指尖的多指手进行视觉辅助对象操作
DOI：
10.1109/robot.1999.774086
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
Y. Yokokohji;M. Sakamoto;T. Yoshikawa
柔软的指尖可以很容易地实现高摩擦接触，但它们围绕接触法线的摩擦力矩使操作控制变得困难。提出了一种多指手软指尖操作物体的控制方案。该方案根据指尖与物体相对旋转的方向来消除摩擦力矩。无论指尖接触类型是什么，准确的位姿测量对于物体的操纵都是非常重要的。我们还提出了一种综合利用摄像机图像和手指关节信息来估计目标姿态的系统方法。将所提出的控制方案与位姿估计方法相结合，并在实验系统中实现。实验结果表明，本文提出的姿态估计方法和整个软指手操纵控制系统是有效的。
Soft fingertips can easily achieve high friction contacts but their frictional moment around the contact normals makes manipulation control difficult. We propose a control scheme to manipulate an object by a multifingered hand with soft fingertips. The proposed scheme cancels the frictional moment according to the direction of the relative rotation between the fingertip and the object. Whatever the fingertip contact type is, accurate pose measurement is very important for the object manipulation. We also propose a systematic method to estimate the object pose with a complementary use of camera images and finger joint information. The proposed control scheme and the pose estimation method were combined and implemented in an experimental system. Results of the experiment show the effectiveness of the proposed pose estimation method and the overall control system for manipulating an object by a soft-fingered hand.