Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper
文献类型：期刊论文
| 作者 | Su, Jianhua1,2 ; Liu, Chuankai3; Meng, Yan1,2
|
| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
 |
| 出版日期 | 2021-10-01 |
| 卷号 | 6期号:4页码:7683-7690 |
| 关键词 | Grasping Grippers Pins Three-dimensional displays Industries Shape Neck Caging grasps grasping in-hand manipulation industrial robot |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2021.3094832 |
| 通讯作者 | Su, Jianhua(jianhua.su@ia.ac.cn) |
| 英文摘要 | This letter converts one high-dimensional caging configuration into several lower-dimensional cage sets in the translation space and rotation space, through which analysis of grasping can be carried out more efficiently. A caging set detection method is introduced based on the constraint region. It is found that a caging on a high-dimensional convex constraint region can be converted into a caging set in low-dimensional sub-region. An efficient method to compute the caging of a polyhedral object using a one-parameter four-pin industrial gripper is then presented. Several simulations and real experiments are conducted to show the efficacy of the proposed methods. |
| WOS关键词 | PLANAR OBJECTS |
| 资助项目 | NSFC[91848109] ; NSFC[61972020] ; NSFC[62003025] ; Beijing Natural Science Foundation[L201019] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000685889400012 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | NSFC ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45887]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组 |
| 通讯作者 | Su, Jianhua |
| 作者单位 | 1.Univ Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China 3.Beijing Aerosp Control Ctr, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, Jianhua,Liu, Chuankai,Meng, Yan. Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(4):7683-7690. |
| APA | Su, Jianhua,Liu, Chuankai,&Meng, Yan.(2021).Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper.IEEE ROBOTICS AND AUTOMATION LETTERS,6(4),7683-7690. |
| MLA | Su, Jianhua,et al."Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper".IEEE ROBOTICS AND AUTOMATION LETTERS 6.4(2021):7683-7690. |
入库方式： OAI收割
来源：自动化研究所
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