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Grasp Planning With a Soft Reconfigurable Gripper Exploiting Embedded and Environmental Constraints
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2021-04-13 , DOI: 10.1109/lra.2021.3072855
Enrico Turco , Valerio Bo , Maria Pozzi , Alessandro Rizzo , Domenico Prattichizzo

Grasping in unstructured environments requires highly adaptable and versatile hands together with strategies to exploit their features to get robust grasps. This letter presents a method to grasp objects using a novel reconfigurable soft gripper with embodied constraints, the Soft ScoopGripper (SSG). The considered grasp strategy, called scoop grasp , exploits the SSG features to perform robust grasps. The embodied constraint, i.e., a scoop, is used to slide between the object and a flat surface (e.g., table, wall) in contact with it. The fingers are first configured according to the object geometry and then used to establish reliable contacts with it. This work introduces an algorithm that, given the object point cloud, computes the best pre-grasp gripper configuration from which to start the scoop grasp strategy. Several experimental trials in different scenarios confirmed the effectiveness of the proposed method.

中文翻译:

利用可重构的软抓具来把握规划,从而充分利用嵌入式和环境约束

在非结构化的环境中进行抓取需要高度适应性强且用途广泛的双手,以及利用其功能来获得可靠掌握的策略。这封信提出了一种使用具有可约束性的新型可重新配置的软质抓取器Soft ScoopGripper(SSG)来抓取物体的方法。考虑到的把握策略,称为grasp抓 ,利用SSG功能来执行强大的掌握。所体现的约束(即铲子)用于在对象和与其接触的平坦表面(例如,桌子,墙壁)之间滑动。指状物首先根据对象的几何形状进行配置,然后用于与之建立可靠的接触。这项工作引入了一种算法,该算法在给定对象点云的情况下,计算最佳的预抓取器配置,从中开始抓取策略。在不同情况下的几个实验试验证实了该方法的有效性。
更新日期:2021-04-27
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