一种基于惯性特性的抓取规划方法

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570208

E. López-Damian, D. Sidobre, R. Alami

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引用次数: 42

摘要

未来的个人机器人必须能够在动态的人类环境中工作并做出决定。这种机器人的一个重要功能是操纵。掌握，作为任何操作任务的开始都是一个关键点。本文提出了一种基于多面体模型的真实物体抓取规划器。该算法基于物体质量和惯性特性导向的抓取随机生成。讨论了近年来对抓取质量的过滤和评价技术。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Grasp Planner Based On Inertial Properties

The future personal robot must be capable to work and take decisions in a dynamic human environment. One important capability of such a robot is manipulation. Grasp, as the beginning of any manipulation task is a key point. In this paper we present a grasp planner for manipulating real objects modeled by polyhedra. The algorithm is based on a random generation of grasp oriented by mass and inertial properties of the object. Recent techniques to filter and evaluate the quality of grasp are discussed.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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