Finding Enveloping Grasps by Matching Continuous Surfaces
This paper presents a new method to compute enveloping grasps with a multi-fingered robotic hand. The method is guided by the idea that a good grasp should maximize the contact surface between the held object and the hand’s palmar surface. Starting from a given hand pregrasp configuration, the proposed method finds the hand poses that maximize this surface similarity. We use a surface descriptor that is based on a geodesic measure and on a continuous representation of the surfaces, unlike previous shape matching methods that rely on the Euclidean distance and/or discrete representation (e.g. random point set). Using geodesic contours to describe local surfaces enables us to detect details such as a handle or a thin part. Once the surface matching returns a set of hand poses, sorted by similarity, a second step is performed to adjust the hand configuration with the purpose of eliminating penetration of the object. Lastly, the grasp stability is tested in order to definitely validate the candidate grasps.
Yi Li Jean-Philippe Saut Juan Cort(e)s Thierry Sim(e)on Daniel Sidobre
CNRS LAAS 7 avenue du colonel Roche,F-31077 Toulouse,France Universit(e) de Toulouse UPS,INSA,INP,ISAE LAAS F-31077 Toulouse,France
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2825-2830
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）