Global optimization of robotic grasps
Tipo de documentoTexto en actas de congreso
Fecha de publicación2011
EditorThe MIT Press. Massachusetts Institute of Technology
Condiciones de accesoAcceso abierto
This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties of the problem include that the set of feasible grasps is a manifold implicitly defined by a system of non-linear equations, the high dimension of this manifold, and the multi-modal nature of typical grasp quality indices, which make local optimization methods get trapped into local extrema. The proposed procedure finds a way around these difficulties by focussing the exploration on a relevant subset of grasps of lower dimension, which is traced out exhaustively using higher-dimensional continuation techniques. Using these techniques, a detailed atlas of the subset is obtained, on which the highest quality grasp according to any desired criterion can be readily identified. Experiments on a 3-finger planar hand and on the Schunk anthropomorphic hand validate the approach.
CitaciónRosales, C.; Porta, J.M.; Ros, L. Global optimization of robotic grasps. A: Robotics: Science and Systems Conference. "VII Robotics: Science and Systems Conference". Los Angles: The MIT Press. Massachusetts Institute of Technology, 2011, p. 1-8.
Versión del editorhttp://www.roboticsproceedings.org/rss07/p12.html