Optimal Grasping Pose Synthesis in a Constrained Environment
| Autor: | Guy Burroughes, Ozan Tokatli, Alessandro Altobelli, Robert Skilton |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science computer.internet_protocol lcsh:Mechanical engineering and machinery Data_MISCELLANEOUS grasping 02 engineering and technology Space (commercial competition) nuclear robotics 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering glovebox Geometric primitive lcsh:TJ1-1570 autonomous system waste decommissioning Mechanical Engineering Autonomous system (Internet) Control engineering Nuclear facilities Glovebox Robot 020201 artificial intelligence & image processing computer |
| Zdroj: | Robotics, Vol 10, Iss 4, p 4 (2021) Robotics Volume 10 Issue 1 |
| ISSN: | 2218-6581 |
| Popis: | In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed. |
| Databáze: | OpenAIRE |
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