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โดย นายธนะธร พ่อค้า 457 03433 21 อาจารย์ที่ปรึกษา ดร.อรรถวิทย์ สุดแสง

Regrasp planning of a polygon in the plane for a 4-fingered hand การวางแผนการเปลี่ยนการจับวัตถุหลายเหลี่ยมบนระนาบด้วยมือที่มีสี่นิ้ว. โดย นายธนะธร พ่อค้า 457 03433 21 อาจารย์ที่ปรึกษา ดร.อรรถวิทย์ สุดแสง. Outline. Introduction Condition for grasping Switching graph

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โดย นายธนะธร พ่อค้า 457 03433 21 อาจารย์ที่ปรึกษา ดร.อรรถวิทย์ สุดแสง

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  1. Regrasp planning of a polygon in the plane for a 4-fingered handการวางแผนการเปลี่ยนการจับวัตถุหลายเหลี่ยมบนระนาบด้วยมือที่มีสี่นิ้ว โดย นายธนะธร พ่อค้า 457 03433 21 อาจารย์ที่ปรึกษา ดร.อรรถวิทย์ สุดแสง

  2. Outline • Introduction • Condition for grasping • Switching graph • Implementation and results • Conclusion

  3. Introduction • Regrasp • Force-closure • Equilibrium • Concurrent grasp • Parallel grasp • 2-fingered grasp • Switching graph

  4. Introduction • Switching diagram concurrent grasps 2-fingered grasps parallel grasps

  5. Condition for grasping • Sufficient condition a1 C1   a3  a1 a2 C3 a2 C2 a3 “concurrent grasp” three-finger equilibrium grasp

  6. Eb Ec Ea Switching graph • Point in the plane can represent a set of grasps. • Independent contact region Ec Eb Ec Eb Fa,b,c x0 Ea Ea

  7. b c a d Switching graph Fa,b,c Fa,b,d a,b,c a,b,d

  8. Switching graph • Finger aligning Fb,d,e Fa,b,c q1 Fa,b,d q2 . q1 . q2 Fa,b,d

  9. i 2 2 2 2 j Switching graph i C B A 2 2 j O(n3), n is the number of polygon’s edges.

  10. Condition for grasping two-finger equilibrium grasp

  11. Eb Fa,b Ea Switching graph • Focus cell Eb Eb x0 Ea Ea ( - 2 ,  + 2 )

  12. Ea Ed Eb Fa,c Fb,c,d . . . Fa,c Fb,c,d q q q Ec Ec 2 1 4 3 Switching graph • Finger switching

  13. Fa,b Fb,c,d . . q1 q2 Switching graph • Finger aligning Eb q1 q2 Fa,b Ea

  14. i 2 2 Switching graph j O(n2), n is the number of polygon’s edges.

  15. Condition for grasping • three-finger equilibrium grasp with parallel contact forces middle

  16. Condition for grasping  

  17. Condition for grasping . . x1 x2 . x0

  18. Eb Ec Switching graph • Set of parallel grasps Ec Eb Ea

  19. Eb Eb Ec Ec Switching graph • Finger switching Ed Ea

  20. Eb Ed Eb Ed Ea Ec Ec Switching graph • Finger switching

  21. Ea Ed Ed Ea Eb Ec Eb Ec Switching graph • Finger switching

  22. Eb Eb Fa,b Ea Ea Switching graph • Finger switching

  23. Eb Ec Eb Fb,d Ea Ed Switching graph • Finger switching

  24. Eb Eb Ec Fa,b Ea Switching graph • Finger switching Eb Ec Ea

  25. Switching graph • Finger aligning

  26. j i 2 Switching graph β+  - 2θ β β+  - θ α+θ β+θ α α+  + θ α+  + 2θ O(n3), n is the number of polygon’s edges.

  27. Switching graph b,d,f a,b,d g,i,j a,b,c b,e g,h i,j,k k,l j,k,l

  28. Implementation • Polygon objects • 1.8 GHz CPU • C++ & LEDA

  29. Results • Concurrent grasp

  30. Results • Parallel grasp

  31. Results • Concurrent & 2-fingered grasp

  32. Results • Parallel & 2-fingered grasp

  33. Results • All grasps

  34. Results • Connected components

  35. Conclusion • Regrasp planning • Concurrent grasp • 2-fingered grasp • Parallel grasp • Dexterous manipulation • Other conditions for parallel grasp • Random approach

  36. Future works • Optimal grasp • Independent contact region • Minimum force required for resist external force • Closest distance between centroid of contact points and center of mass • Other objects • Polyhedral object • Curved object

  37. Thank you

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