Task and Context Sensitive Gripper Design Learning Using Dynamic Grasp Simulation
نویسندگان
چکیده
منابع مشابه
Task and Context Sensitive Gripper Design Learning Using Dynamic Grasp Simulation
In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both selected gripper mechanism parameters, and parameters of the finger geometry. We suggest six gripper quality indices that indicate different aspects of the performance of a gripper given a CAD model of an object and a task description. These quality indices are then used to learn ta...
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Dedicated fixtures are costly and inflexible. The goal of fixtureless assembly is to replace assembly fixtures with sensor-guided robots equipped with flexible grippers. This, in turn, requires the development of automated grasp planning strategies, and grippers with the flexibility to pick up and immobilize a wide range a object sizes and shapes. In this paper, an efficient grasp planning meth...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2017
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-017-0492-y