Planning quasi-static fingertip manipulations for reconfiguring objects

被引：50

作者：

Cherif, M ^{[1
]}

Gupta, KK

机构：

[1] INRIA Rhone Alpes, F-38330 Montbonnot St Martin, France

[2] Simon Fraser Univ, Sch Engn Sci, Robot Lab, Burnaby, BC V5A 1S6, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 05期

基金：

加拿大自然科学与工程研究理事会;

关键词：

dexterous manipulation; fingertip grasps; friction; motion planning; quasistatic systems; rolling/sliding contacts;

D O I：

10.1109/70.795789

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We address the global motion planning aspects of dexterous manipulation by a multifingered robotic hand. The specific task we address is: starting from a given initial grasp of a three-dimensional (3-D) object O, find feasible quasistatic trajectories (rolling/sliding motions and forces) for the fingertips to move O to a desired final configuration. We call this the reconfiguration problem. Our planner is based on a two-level algorithm combining a graph search on the configuration spate of the object and a local planner that solves for instantaneous quasistatic motions of the entire manipulation system. The planner is used for simulating several complex reconfiguration tasks for smooth objects demonstrating the promise of our approach.

引用

页码：837 / 848

页数：12

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