RIA: Synthesis and Planning for the Grasps of Planar and Solid Objects

RIA：平面和实体对象的综合和规划

• 批准号: 9209512
• 负责人: Yu-Che Chen
• 金额: $ 8.99万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-09-01 至 1997-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9209512&HistoricalAwards=false
• 关键词: RIA; Synthesis; Planning; Grasps; Planar

This research project addresses the problem of grasp planning and object manipulation. An innovative technique for effectively calculating the finger forces to be applied to the grasped object is developed. The CAD model of a dexterous robotic hand, task specification, and a contact model (e.g., soft finger contact with friction), are used to yield a stable grasp suitable for the task. If the desired grasp cannot be achieved in the initial phase, for example due to presence of nearby obstacles, the system autonomously plans and executes dexterous manipulation actions to gain the desired grasp. The results of this research will solve the inherently complex grasp problem in a computational efficient and physically meaningful manner.*** //

该研究项目解决了抓取规划和对象操纵的问题。开发了一种有效计算施加到抓取物体的手指力的创新技术。 灵巧机械手的 CAD 模型、任务规范和接触模型（例如，具有摩擦力的软手指接触）用于产生适合任务的稳定抓握。 如果在初始阶段无法实现所需的抓握，例如由于附近存在障碍物，系统会自主计划并执行灵巧的操纵动作以获得所需的抓握。这项研究的结果将以计算高效且具有物理意义的方式解决本质上复杂的抓取问题。*** //