Task-oriented quality measures for dextrous grasping

被引：43
|
作者：
Haschke, R [1 ]
Steil, JJ [1 ]
Steuwer, I [1 ]
Ritter, H [1 ]
机构：
[1] Univ Bielefeld, Fac Technol, Neuroinformat Grp, D-33615 Bielefeld, Germany
来源：
2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS | 2005年
关键词：
grasp quality measure; force optimization;
D O I：
10.1109/CIRA.2005.1554357
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 propose a new and ef cient approach to compute task oriented quality measures for dextrous grasps. Tasks can be speci ed 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.
引用
收藏
页码：689 / 694
页数：6
相关论文
共 50 条
  • [1] Preparatory Object Reorientation for Task-Oriented Grasping
    Anh Nguyen
    Kanoulas, Dimitrios
    Caldwell, Darwin G.
    Tsagarakis, Nikos G.
    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 893 - 899
  • [2] TASK-ORIENTED OPTIMAL GRASPING BY MULTIFINGERED ROBOT HANDS
    LI, ZI
    SASTRY, SS
    IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1988, 4 (01): : 32 - 44
  • [3] Task-Oriented Grasping with Point Cloud Representation of Objects
    Patankar, Aditya
    Phi, Khiem
    Mahalingam, Dasharadhan
    Chakraborty, Nilanjan
    Ramakrishnan, I. V.
    2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2023, : 6853 - 6860
  • [4] Vision/Force control in task-oriented grasping and manipulation
    Prats, Mario
    Martinet, Philippe
    del Pobil, Angel P.
    Lee, Sukhan
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 1326 - +
  • [5] One-Shot Learning for Task-Oriented Grasping
    Holomjova, Valerija
    Starkey, Andrew J.
    Yun, Bruno
    Meisner, Pascal
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, 8 (12) : 8232 - 8238
  • [6] Task-oriented Grasping with Semantic and Geometric Scene Understanding
    Detry, Renaud
    Papon, Jeremie
    Matthies, Larry
    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, : 3266 - 3273
  • [7] Task-Oriented Grasping Position Selection in Deformable Object Manipulation
    Huang, Jing
    Au, K. W. Samuel
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, 8 (02) : 776 - 783
  • [8] Learning Task-Oriented Dexterous Grasping from Human Knowledge
    Li, Hui
    Zhang, Yinlong
    Li, Yanan
    He, Hongsheng
    2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, : 6192 - 6198
  • [9] Learning Task-Oriented Grasping From Human Activity Datasets
    Kokic, Mia
    Kragic, Danica
    Bohg, Jeannette
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (02) : 3352 - 3359
  • [10] TASK-ORIENTED OPTIMAL GRASPING BY MULTIFINGERED ROBOT HANDS.
    Li, Zexiang
    Sastry, S.Shankar
    IEEE journal of robotics and automation, 1988, 6 (02): : 32 - 44
12345