Stability analysis and optimum position planning for dexterous grasping of multiple objects

灵巧抓取多个物体的稳定性分析与最佳位置规划

• 批准号: 23560285
• 负责人: YAMADA Takayoshi
• 金额: $ 3.33万
• 依托单位: Gifu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23560285/
• 关键词: ロボット; 多指ハンド; 把持の安定性; 複数対象物; 高度な操り; 剛性行列; 最適把持の設計; 把握系の安定性

Multifingered robot hands have the potential to dexterously grasp and manipulate any shaped objects. In this research project, I have investigated the grasp stability of multiple objects and the optimum grasp planning problem based on the analysis. In the planar case, grasps of multiple objects with sliding and rolling contacts between fingers and objects were analyzed. The effects of grasp parameters to the grasp stability were analytically obtained by formulating the partial derivative of the grasp stiffness matrix. In the spatial case, not only the sliding and rolling contacts but also contact surface geometry (metric tensor, curvature and torsion) were considered. An optimum grasp planning algorithm was proposed and its effectiveness was demonstrated by using experimental devices for grasping a single object. In order to include the revolute joints and link lengths of the hands, rotational stiffness model was used. The grasp stiffness matrix was analytically derived on the model.

多指机器人手有可能灵巧地抓住和操纵任何形状的物体。在这个研究项目中，我研究了多个物体的抓取稳定性以及基于分析的最佳抓取规划问题。在平面情况下，分析了手指与物体之间滑动和滚动接触的多个物体的抓取。通过制定抓取刚度矩阵的偏导数，分析得出抓取参数对抓取稳定性的影响。在空间情况下，不仅考虑滑动和滚动接触，还考虑接触表面几何形状（度量张量、曲率和扭转）。提出了一种最佳抓取规划算法，并通过使用抓取单个物体的实验设备证明了其有效性。为了包含手部的旋转关节和连杆长度，使用了旋转刚度模型。抓握刚度矩阵是在模型上分析得出的。

项目成果

Static Grasp Stability Analysis of Two Spatial Objects Including Contact Surface Geometry

包括接触面几何形状的两个空间物体的静态抓取稳定性分析

• 发表时间: 2012
• 作者: Takayoshi YAMADA; Toshiya TAKI; Manabu YAMADA; Hidehiko YAMAMOTO
• 通讯作者: Hidehiko YAMAMOTO

Static Grasp Stability Analysis of Two Spatial Objects Including Contact Surface Geometry

包括接触面几何形状的两个空间物体的静态抓取稳定性分析

• 发表时间: 2012
• 作者: Takayoshi Yamada1; Toshiya Taki; Manabu Yamada; Hidehiko Yamamoto
• 通讯作者: Hidehiko Yamamoto

Grasp Parameter Effect for Static Grasp Stability of a Single Planar Object

抓取参数对单个平面物体静态抓取稳定性的影响

• 发表时间: 2013
• 作者: Takayoshi YAMADA ; Hidehiko YAMAMOTO
• 通讯作者: Hidehiko YAMAMOTO

力覚情報を用いた接触状態の同定(指先を既知形状とした場合の同定実験およびOpenGLによる可視化)

使用力信息识别接触状态（指尖已知形状时的识别实验以及使用OpenGL的可视化）

• 发表时间: 2013
• 作者: 山田貴孝;中西翔太郎;山本秀彦
• 通讯作者: 山本秀彦

Static Stability Analysis of a Single Planar Object Grasped by a Multifingered Hand

多指手抓取单个平面物体的静态稳定性分析

• 发表时间: 2012
• 作者: Takayoshi Yamada; Manabu Yamada; Hidehiko Yamamoto
• 通讯作者: Hidehiko Yamamoto