On computing task-oriented grasps

被引：11
作者：
El-Khoury, Sahar [1 ]
de Souza, Ravin [1 ]
Billard, Aude [1 ]
机构：
[1] Ecole Polytech Fed Lausanne, Learning Algorithms & Syst Lab LASA, CH-1015 Lausanne, Switzerland
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2015年 / 66卷
基金：
瑞士国家科学基金会;
关键词：
Grasping; Force-closure; Hand kinematics; Task modeling; HAND;
D O I：
10.1016/j.robot.2014.11.016
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a sensorized tool. The grasp quality is computed through a task compatibility criterion. Grasp synthesis is then formulated as a single constrained optimization problem, generating grasps that are feasible for the hand's kinematics by maximizing the corresponding task-oriented quality criterion and ensuring grasp stability. The method was validated on a human hand model and is shown to be easily adapted to different hand kinematic models. (C) 2014 Elsevier B.V. All rights reserved.
引用
收藏
页码：145 / 158
页数：14
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