Manipulation gaits: Sequences of grasp control tasks

被引：20

作者：

Platt, R ^{[1
]}

Fagg, AH ^{[1
]}

Grupen, RA ^{[1
]}

机构：

[1] Univ Massachusetts, Dept Comp Sci, Lab Perceptual Robot, Amherst, MA 01003 USA

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307247

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-gasped in order to avoid finger workspace limits. In this paper, we present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and show how they may be concurrently combined. Furthermore, we show that dexterous manipulation behavior may be generated by sequencing concurrent combinations of these controllers. We show that dexterous manipulation can be viewed as a task that is accomplished in the context of a wrench closure constraint. We hypothesize this approach can generalize to any task that must be accomplished while maintaining a set of constraints.

引用

页码：801 / 806

页数：6