Capturing robot workspace structure: representing robot capabilities
Capturing robot workspace structure: representing robot capabilities
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DOI：
10.1109/iros.2007.4399105
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Franziska Zacharias;C. Borst;G. Hirzinger
中科院分区：
文献类型：
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作者：
Franziska Zacharias;C. Borst;G. Hirzinger
人类在某种程度上已经了解了他们手臂的能力的抽象。只需查看场景，他们就可以决定哪些地方或物体可以轻松到达，哪些地方或物体难以接近。对于抓取规划器、路径规划器和任务规划器来说，在其工作空间中拥有机器人手臂功能的类似抽象非常重要。在本文中，我们展示了机器人手臂的能力表现为特定于工作空间区域的方向结构。我们引入了一种表示方案，可以可视化和检查方向结构。然后以地图的形式捕获方向结构，我们将其称为能力地图。使用此功能图，机械手能够推断出容易到达的地方。此外，操纵器可以将物体运输到可以进行多种操纵的地方，或者移动操纵器或人形躯干可以定位自身以实现对物体的最佳操纵。
Humans have at some point learned an abstraction of the capabilities of their arms. By just looking at the scene they can decide which places or objects they can easily reach and which are difficult to approach. Possessing a similar abstraction of a robot arm's capabilities in its workspace is important for grasp planners, path planners and task planners. In this paper, we show that robot arm capabilities manifest themselves as directional structures specific to workspace regions. We introduce a representation scheme that enables to visualize and inspect the directional structures. The directional structures are then captured in the form of a map, which we name the capability map. Using this capability map, a manipulator is able to deduce places that are easy to reach. Furthermore, a manipulator can either transport an object to a place where versatile manipulation is possible or a mobile manipulator or humanoid torso can position itself to enable optimal manipulation of an object.