Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding
Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding
复制标题
刚性物体灵巧重定向的全局规划：滚动和滑动的手指跟踪
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
J. Hastings
中科院分区：
文献类型：
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作者：
J. R. Coelho;C. Holliday;J. Hastings
我们通过四指尖抓取来解决凸物体（多面体和光滑物体）的准静态重新定向的全局运动规划。我们利用一种简单的类人操作策略，其中单个手指在每个瞬间移动，而其他三个手指保持固定（相对于手掌）——这是罗斯原始手指跟踪方案的扩展版本。这个新版本本质上结合了指尖的摩擦滚动和滑动，并处理相关的接触运动学和准静态运动/力预测问题。我们的贡献是双重的。首先，我们描述了一种分析，表明这种扩展方案适合于减少对象运动的空间，从而使运动规划更容易并在低维搜索空间上运行。我们的第二个贡献是一个规划器，它利用这种搜索空间的减少，并在多级分层框架的核心应用扩展的手指跟踪来搜索全局重定向轨迹。该规划器已被实施并用于实现几个重要的摩擦重新定向任务，这些任务显示了我们方法的能力和前景。
We address global motion planning for quasi-static reorientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple humanlike manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (with regard to the palm)—an extended version of the original finger-tracking scheme of Rus. This new version es sentially incorporates frictional rolling and sliding at the fingertips and deals with the related contact kinematics and quasi-static mo tion/force prediction issues. Our contribution is twofold. First, we describe an analysis showing that this extended scheme is suitable for reducing the space of the object motions, thereby making motion planning easier and operating on a search space of low dimension. Our second contribution is a planner that exploits such a search space reduction and applies the extended finger tracking at the core of a multilevel hierarchical framework to search for global reorien tation trajectories. The planner has been implemented and used for achieving several nontrivial frictional reorientation tasks that show the capabilities and the promise of our approach.