A family of models for manipulation planning
A family of models for manipulation planning
复制标题
操纵规划的一系列模型
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
J. Pang
中科院分区：
文献类型：
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作者：
Peng Song;Vijay Kumar;Jeff Trinkle;J. Pang
操纵任务是那些不建立和断开接触就无法完成的任务。规划算法的一个共同要求是能够假设控制动作，然后使用数学模型预测系统的演变。该模型必须捕获与正在计划的任务相关的物理学，并在适当的细节级别上这样做。本文提出了一系列适用于操作规划的时间步进模型。具有最高保真度的模型是结合了刚体动力学、关节约束以及具有局部顺应性和库仑摩擦的接触的模型。这个想法是从最简单的模型开始计划任务，每次发现计划时升级模型并重新计划，直到获得具有所需保真度的模型的计划。这种方法是通过两个手指掌握收购问题说明
Manipulation tasks are those that cannot be accomplished without making and breaking contacts. A common requirement of planning algorithms is an ability to hypothesize control actions and then predict the evolution of the system using a mathematical model. This model must capture the physics relevant to the task being planned and do so at an appropriate level of details. In this paper, a collection of time-stepping models suitable for manipulation planning are proposed. The model with the highest fidelity is one that incorporates rigid body dynamics, joint constraints, and contacts with local compliance and Coulomb friction. The idea is to plan tasks starting with the simplest model, upgrading the model and replanning each time a plan is found, until a plan is obtained with the model of desired fidelity. This approach is illustrated through a two-finger grasp acquisition problem