A general framework for open-loop pivoting
A general framework for open-loop pivoting
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开环旋转的通用框架
DOI：
10.1109/icra.2015.7139709
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
M. T. Mason
中科院分区：
文献类型：
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作者：
A. Holladay;R. Paolini;M. T. Mason
绕轴旋转是指利用重力和惯性力在两根手指之间旋转一个物体，以赋予其角动量。我们对绕轴旋转的力学原理进行了分析，并提出了一个用于规划和执行的框架。Chavan - Dafle等人[1]将外部灵巧性定义为在抓取后操作中利用外力，比如重力和惯性力。我们分析了Rao等人[2]所提到的一种此类重新抓取操作，称为“绕轴旋转”。我们找到了一种抓取方式和手臂轨迹，如果存在的话，它可以使物体在稳定姿态之间旋转。我们展示了使用ABB工业机械臂和一个双指夹具实现绕轴旋转的过程。
Pivoting is the rotation of an object between two fingers using gravity and inertial forces to impart angular momentum. We present an analysis of the mechanics of pivoting and a framework for planning and execution. Extrinsic dexterity was defined by Chavan-Dafle et al. [1] as the use of external forces, such as gravity and inertial forces in post grasp manipulation. We analyze one such regrasp termed “pivoting” by Rao et al. [2]. We find a grasp and arm trajectory which can rotate an object between stable poses, if any. We demonstrate an implementation of pivoting with an ABB industrial arm and a two fingered gripper.