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
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