Sequential contact-based adaptive grasping for robotic hands

被引:3
|
作者
Pollayil, George Jose [1 ,2 ,3 ]
Pollayil, Mathew Jose [1 ,2 ,3 ]
Catalano, Manuel Giuseppe [2 ]
Bicchi, Antonio [1 ,2 ,3 ]
Grioli, Giorgio [2 ]
机构
[1] Univ Pisa, Res Ctr Enrico Piaggio, Largo Lucio Lazzarino 1, I-56122 Pisa, Italy
[2] Ist Italiano Tecnol, Soft Robot Human Cooperat & Rehabil Lab, Genoa, Italy
[3] Univ Pisa, Dipartimento Ingn Informaz, I-56122 Pisa, Italy
来源
关键词
Grasping; Sequential; Contact; Adaptive; Enveloping; Soft; Underactuated; Robotic Hands; Wrist; Pose Uncertainty; MANIPULATION; SYNERGIES; DESIGN;
D O I
10.1177/02783649221081154
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper proposes a novel type of grasping strategy that draws inspiration from the role of touch and the importance of wrist motions in human grasping. The proposed algorithm, which we call Sequential Contact-based Adaptive Grasping, can be used to reactively modify a given grasp plan according to contacts arising between the hand and the object. This technique, based on a systematic constraint categorization and an iterative task inversion procedure, is shown to lead to synchronized motions of the fingers and the wrist, as it can be observed in humans, and to increase grasp success rate by substantially mitigating the relevant problems of object slippage during hand closure and of uncertainties caused by the environment and by the perception system. After describing the grasping problem in its quasi-static aspects, the algorithm is derived and discussed with some simple simulations. The proposed method is general as it can be applied to different kinds of robotic hands. It refines a priori defined grasp plans and significantly reduces their accuracy requirements by relying only on a forward kinematic model and elementary contact information. The efficacy of our approach is confirmed by experimental results of tests performed on a collaborative robot manipulator equipped with a state-of-the-art underactuated soft hand.
引用
收藏
页码:543 / 570
页数:28
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