Automated Design of Manipulators for In-Hand Tasks
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)(2018)
摘要
Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a preexisting kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high level objectives as input. Our goal is to create a pipeline that automatically generates custom hands designed for specific manipulation tasks based on high level user input. Our framework comprises of a sequence of trajectory optimizations chained together to translate a sequence of objective poses into an optimized hand mechanism along with a physically feasible motion plan involving both the constructed hand and the object. We demonstrate the feasibility of this approach by synthesizing a series of hand designs optimized to perform specified in-hand manipulation tasks of varying difficulty.
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关键词
motion synthesis,dexterous manipulation tasks,robotic hand,hand topologies,trajectory optimizations,objective poses,optimized hand mechanism,hand designs,in-hand manipulation tasks,kinematic model,manipulation tasks,motion plan,manipulator automated design,in-hand tasks
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