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  • Discrete Regrasp Planning For Multifingered Robot Hands Backup B

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    msa83
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    Problem Definition: Given an object held by a hand, and a task which is to be performed on or with the object, determine: - the goal contact configuration - the sequence of intermediate configuration leading to the goal configuration Assumptions: - large object motions are not allowed - effect of internal forces on task compatibility not incorporated - multisegment contact across object features not allowed - only the thumb is allowed to slide, other digits moved by lifting

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    Discrete Regrasp Planning for Multifingered Robot Hands Backup B

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    Problem Definition: Given an object held by a hand, and a task which is to be performed on or with the object, determine: - the goal contact configuration - the sequence of intermediate configuration leading to the goal configuration Assumptions: - large object motions are not allowed - effect of internal forces on task compatibility not incorporated - multisegment contact across object features not allowed - only the thumb is allowed to slide, other digits moved by lifting

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    © All Rights Reserved
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    9 views3 pages

    Discrete Regrasp Planning For Multifingered Robot Hands Backup B

    Uploaded by

    msa83
    Problem Definition: Given an object held by a hand, and a task which is to be performed on or with the object, determine: - the goal contact configuration - the sequence of intermediate configuration leading to the goal configuration Assumptions: - large object motions are not allowed - effect of internal forces on task compatibility not incorporated - multisegment contact across object features not allowed - only the thumb is allowed to slide, other digits moved by lifting

    Copyright:

    © All Rights Reserved
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    Regrasping Algorithm: Thumb change | Can new thumb cc be achieved via remove/replace? Y r Can thumb be slid into new cc? | p i one-step sliding multi-step sequence (canned) one-step remove/replace cc a Algorithm: Find Intermediate CCs Generate set of potential next ccs (rule based) Workspace and stability checks Determine distance from goal Select highest ranking cc as next Termination test ~ Case Study 3: Discussion- lo z metric map 0 2° 3 4 8 1 ‘number of multisogment contacts ; Thumb| Fore Middle | Ring | Pinky | Palm Score | Goal cft cfm ne ne bfm | np 61 Prior cfm | cfit cf:t efit bf:t | np 24 Transition | cfit efit ne nc ne p 24 Lowest cfm | cfm cfim cfm bf:m | p 12

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