Planning regrasp operations for a multifingered robotic hand
Planning regrasp operations for a multifingered robotic hand
复制标题
规划多指机械手的重新抓取操作
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
R. Dillmann
中科院分区：
文献类型：
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作者：
Zhixing Xue;Johann Marius Zöllner;R. Dillmann
重抓取操作包括一系列的拾取和放置操作，这是非常有用的，以避免与环境的碰撞，并克服在某些情况下的运动学限制。在这项工作中，我们提出了一个自动规划系统的重握操作的多指机器人手。自动找到被抓取物体的稳定平面，用立体角表示物体旋转时不翻倒的最小角度，量化每个稳定平面的稳定性。多指手的把握是在模拟中使用手的预形和接近方向。稳定平面被放置在模拟中作为障碍物，以计划不与这些稳定平面碰撞的抓握。在发现抓取之后，检查抓取和每个稳定平面之间的碰撞。该信息和离线计算的所发现的抓握被保存在抓握数据库中。在联机执行过程中，重新抓取操作计划的广度优先搜索使用掌握数据库。规划器还考虑了碰撞和运动学可行性。
Regrasp operations consist of a sequence of pick-and-place operations, which are very useful to avoid collisions with the environment and to overcome the kinematic limitations in some cases. In this work, we propose an automatic planning system for regrasp operations for a multifingered robotic hand. The stable planes of the object to be grasped are automatically found. The minimal angle allowed to rotate the object without tipping it over is expressed using solid angles to quantify the stability of each stable plane. The grasp for the multifingered hand is generated in the simulation using hand preshapes and approach directions. The stable planes are placed in the simulation as obstacles to plan grasps that do not collide with such stable planes. After a grasp is found, collisions between the grasp and each stable plane are checked. This information and the found grasps computed off-line are saved in a grasp database. During on-line execution, regrasp operations are planned by a breadth-first search using the grasp database. The collision and kinematic feasibility are also considered by the planner.