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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Visual Grasp Planning for Unknown Objects Using a Multifingered Robotic Hand
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Visual Grasp Planning for Unknown Objects Using a Multifingered Robotic Hand

机译：使用多指机器人手对未知对象进行视觉抓取规划

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摘要

A method for fast visual grasping of unknown objects with a multifingered robotic hand is presented in this paper. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The reconstruction algorithm makes use of images taken by a camera carried by the robot arm. A virtual elastic reconstruction surface is placed around the object. The surface shrinks toward the object until some points intercept the object visual hull. Then, attractive forces with respect to the border of the visual hull are generated so as to compensate for the elastic forces: when an equilibrium between those forces is reached, the surface takes the form of the object shape. Running in parallel to the reconstruction algorithm, the grasp planner moves the fingertips on the current available reconstruction surface, toward points which are optimal (in a local sense) with respect to a number of indices weighting both the grasp quality and the kinematics configuration of the hand. This method, referred to as parallel visual grasp, may represent a valid candidate for applications where online grasp planning is required. A number of experiments are presented, showing the effectiveness of the proposed approach.
机译：本文提出了一种用多指机器人手快速视觉抓取未知物体的方法。该算法由对象表面重建算法和局部抓取规划器组成，它们并行发展。重建算法利用机器人手臂携带的相机拍摄的图像。虚拟弹性重建表面放置在对象周围。表面朝着对象缩小，直到某些点与对象的视觉外壳相交为止。然后，产生相对于视觉船体的边界的吸引力，以补偿弹性力：当这些力之间达到平衡时，表面采取物体形状的形式。与重构算法并行运行，抓取计划器将当前可用的重构表面上的指尖朝着权重值（相对于权重抓地力质量和运动学配置同时加权的多个指标而言）朝最佳点（在局部意义上）移动。手。这种方法称为并行视觉抓取，可以表示需要在线抓取计划的应用程序的有效候选者。提出了许多实验，表明了该方法的有效性。

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