| Autor: |
Cherif, Moëz, Gupta, Kamal K. |
| Přispěvatelé: |
Automatic Programming and Decisional Systems in Robotics (SHARP), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), School of Engineering Science, Simon Fraser University (SFU.ca), INRIA |
| Jazyk: |
angličtina |
| Rok vydání: |
1999 |
| Předmět: |
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| Zdroj: |
[Research Report] RR-3770, INRIA. 1999 |
| Popis: |
We address global motion planning for quasi-static re-orientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple human-like manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (wrt the palm) --an extended version of the original finger tracking scheme of Rus [25, 26]. This new version essentially incorporates frictional rolling and sliding at the fingertips and deals with the related contact kinematics and quasi-static motion/force prediction issues. Our contribution is twofold. First, we describe an analysis showing that this extended scheme is suitable for reducing the space of the object motions; thereby making motion planning easier and operating on a search space of low dimension- . Our second contribution is a planner that exploits such a search space reduction and applies the extended finger tracking at the core of a multi-leve- l hierarchical framework to search for global re-orientation trajectories. The planner has been implemented and used for achieving several non-trivial frictional re-orientation tasks that show the capabilities and the promise of our approach. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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