Grasp strategy for pyramidal-like object

金字塔状物体的抓取策略

• 批准号: 10650259
• 负责人: KANEKO Makoto
• 金额: $ 2.5万
• 依托单位: Hiroshima University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10650259/
• 关键词: robot hand; grasp; manipulation; pyramidal-like object; grasp stategy; 把持; 把握; アルゴリズム; 安定性; 手衡把握; 多指ロボットハンド

The obtained results throughout our research activities can be summarized as follows :・Assuming that a triangular pyramidal object is placed on a table under the gravitational field, we showed the necessary and sufficient number of fingers to lift up the triangular object which is impossible for fingers to lift up by directly grasping it. We also showed the strategy to lift up a triangular object by robot fingers.・We extended the strategy to the case where the general pyramidal-like object is lifted up. We showed that the general pyramidal-like object can be lifted up by three fingers except for the regular sqare pyramidal object.・We performed an experiment to lift up a triangular object placed on a table by a robot hand. We showed that the triangular object can be lifted up by utilizing the proposed grasp strategy.・Assuming that that a pyramidal-like object is lifted up and is in an equilibrium state, we analyzed the stability of the object. We obtained the region of the fingers to ensure the stability.

我们的研究成果可以概括如下：·假设一个三角形物体被放置在重力场作用下的桌子上，我们证明了手指举起三角形物体的必要和充分数量，这是手指直接抓住它是不可能举起的。我们还证明了机器人手指举起三角形物体的策略。·我们将该策略扩展到一般的类金属物体被举起的情况。我们证明了，除了规则的正方形金字塔物体外，一般的金字塔状物体可以用三根手指举起。·我们进行了一个实验，以解除一个三角形物体放在桌子上的机器人手。我们证明了利用所提出的抓取策略可以举起三角形物体。·假设一个类圆柱物体被举起并处于平衡状态，分析了该物体的稳定性。为了保证稳定性，我们得到了手指的区域。

项目成果

Makoto Kaneko: "Pulling Motion Based Tactile Sensing for Concave Surface" IEEE Transactions on Systems, Man, and Cybernetics. 掲載決定.

Makoto Kaneko：“凹面的基于拉动的触觉感知”IEEE 系统、人类和控制论汇刊接受出版。

K.Harada: "Neighborhood Equilibrium Grasp for Multiple Objects"Proc.of 2000 IEEE Int.Conf.on Robotics and Automation. (to appear). (2000)

K.Harada：“多个对象的邻域平衡把握”Proc.of 2000 IEEE Int.Conf.on Robotics and Automation。

M. Kaneko: "An Algorithm for Achiving Equilibrium Grasp for Pyramidal-like Objects"J. of Robotics Society of Japan. vol. 18 (in press). 126-134 (2000)

M. Kaneko：“一种实现金字塔状物体平衡抓取的算法”J.

M. Kaneko: "Necessary and Sufficient Number of Fingers of Capturing Pyramidal-like Objects"Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. 167-172 (1998)

M. Kaneko：“捕获金字塔状物体的必要和足够数量的手指”Proc。

T.Shirai: "Enveloping Grasp with a New Detaching Strategy"Proc.of Int.Conf.on Advanced Robotics. 167-172 (1999)

T.Shirai：“用新的分离策略包围抓握”Proc.of Int.Conf.on Advanced Robotics。