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

RIA：平面和实体对象的综合和规划

• 批准号: 9209512
• 负责人: Yu-Che Chen
• 金额: $ 8.99万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-09-01 至 1997-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9209512&HistoricalAwards=false
• 关键词: RIA; Synthesis; Planning; Grasps; Planar

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.*** //

这个研究项目解决了抓取规划的问题， 对象操作。一种创新的技术， 计算要施加到所抓握的物体的手指力 开发了 机器人灵巧手的CAD模型，任务 规范，以及联系人模型（例如，柔软的手指接触 摩擦力）用于产生适合于该任务的稳定抓握。 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， 自主计划和执行灵巧的操纵动作， 获得所需的把握。这项研究的结果将解决 固有复杂的抓取问题，在一个计算效率 有实际意义的方式 * //