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2016 | OriginalPaper | Buchkapitel

Task-Oriented Grasp Planning Based on Disturbance Distribution

verfasst von : Yun Lin, Yu Sun

Erschienen in: Robotics Research

Verlag: Springer International Publishing

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Abstract

One difficulty of task-oriented grasp planning is task modeling. In this paper, a manipulation task was modeled by building a non-parametric statistical distribution model from disturbance data captured during demonstrations. This paper proposes a task-oriented grasp quality criterion based on distribution of task disturbance and uses the criterion to search for a grasp that covers the most significant part of the disturbance distribution. To reduce the computational complexity of the search in a high-dimensional robotic hand configuration space, as well as to avoid a correspondence problem, the candidate grasps are computed from a reduced configuration space that is confined by a set of given thumb placements and thumb directions. The proposed approach has been validated with a Barrett hand and a Shadow hand on several objects in simulation. The resulting grasps in the evaluation generated by our approach increase the coverage of frequently-occurring disturbance rather than the coverage of a large area with a scattered distribution.

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Metadaten
Titel
Task-Oriented Grasp Planning Based on Disturbance Distribution
verfasst von
Yun Lin
Yu Sun
Copyright-Jahr
2016
DOI
https://doi.org/10.1007/978-3-319-28872-7_33