灵巧抓取的任务导向质量测量

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554357

R. Haschke, Jochen J. Steil, I. Steuwer, H. Ritter

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引用次数: 95

摘要

我们提出了一种新的、有效的方法来计算面向任务的灵巧抓握质量度量。任务可以指定为要应用的单个扳手，作为扳手锥体形式的粗略方向，或作为复杂扳手多面体。基于线性矩阵不等式形式处理摩擦锥约束，分别提出了相应的凸优化问题，其解给出了任务方向上最大的适用扳手和所需的接触力。数值实验表明，该方法可以应用于多接触的复杂抓点。

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Task-oriented quality measures for dextrous grasping

We propose a new and efficient approach to compute task oriented quality measures for dextrous grasps. Tasks can be specified as a single wrench to be applied, as a rough direction in form of a wrench cone, or as a complex wrench polytope. Based on the linear matrix inequality formalism to treat the friction cone constraints we formulate respective convex optimization problems, whose solutions give the maximal applicable wrench in the task direction together with the needed contact forces. Numerical experiments show that application to complex grasps with many contacts is possible.

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2005 International Symposium on Computational Intelligence in Robotics and Automation

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