RIA: Synthesis and Planning for the Grasps of Planar and Solid Objects

本研究计划解决抓取规划和对象操纵的问题。一种创新的技术，有效地计算手指力，以适用于抓取对象。灵巧机械手的CAD模型、任务规范和接触模型（例如，柔软的手指与摩擦接触）用于产生适合任务的稳定抓握。如果在初始阶段无法实现所需的抓取，例如由于附近存在障碍物，系统会自主计划并执行灵巧的操作动作以获得所需的抓取。本研究的结果将以计算效率和物理意义的方式解决固有复杂的抓取问题。* * * / /

This research project addresses the problem of grasp planning and object manipulation. An innovative technique for effectively calculating the finger forces to be applied to the grasped object is developed. The CAD model of a dexterous robotic hand, task specification, and a contact model (e.g., soft finger contact with friction), are used to yield a stable grasp suitable for the task. If the desired grasp cannot be achieved in the initial phase, for example due to presence of nearby obstacles, the system autonomously plans and executes dexterous manipulation actions to gain the desired grasp. The results of this research will solve the inherently complex grasp problem in a computational efficient and physically meaningful manner.*** //