Sensor based control for the execution of regrasping primitives on a multifingered robot hand
Sensor based control for the execution of regrasping primitives on a multifingered robot hand
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基于传感器的控制，用于在多指机器人手上执行重新抓取基元
DOI：
10.1109/robot.1999.774088
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
K. Nagata
中科院分区：
文献类型：
--
作者：
Mohammad Asim Farooqi;Takashi Tanaka;Y. Ikezawa;T. Omata;K. Nagata
我们展示了强大的执行两个重握原语，旋转和旋转的四指手，基于实时传感器数据为基础的控制。我们表明经常发生的把握错误和故障，在执行过程中的两个regrasping原语。传感器数据从两个来源获得。一种是安装在四个手指的指尖上的力-扭矩传感器。另一种是安装在手掌上的激光测距传感器。通过这两个源获得的抓取信息对于感测误差和控制手指都是有用的。本文提出了策略，以恢复或防止错误的把握在操作过程中，这可能会导致不必要的对象移动或把握失败。被操纵的对象是一个多边形棱柱，其模型是已知的先验。
We demonstrate the robust execution of two regrasping primitives, rotation and pivoting on a four-fingered hand, based on the real-time sensors data based control. We indicate frequently occurring grasp errors and faults during execution of the two regrasping primitives. The sensors data is obtained from two sources. One is force-torque sensors mounted on the finger tips of the four fingers. The other is a laser range sensor mounted on the palm of the hand. The grasp information acquired through these two sources is useful for both sensing the errors and controlling the fingers. The paper proposes strategies to recover or prevent faulty grasps during manipulation, which may lead to unwanted object movements or grasp failures. The object to be manipulated is a polygonal prism, the model of which is known a priori.