Robotic fingertip design method, grabbing planner and grasping method

Abstract

The invention provides a robotic fingertip design method, a grabbing planner and a method for grabbing an object by utilizing a robot fingertip. The method for designing the fingertip of the robot comprises the following steps: extracting a plurality of grabbing contact surfaces from a collection of object samples; clustering the plurality of grabbing contact surfaces into a plurality of contact elements, so that the sum of the intra-class geometric differences of the plurality of contact elements is minimized, and an intra-class geometric difference of the contact elements is the overall geometric difference between the gripping contact surfaces included in the contact element; designing a fingertip with a geometric feature corresponding to the contact element in terms of each of a plurality of contact elements.

Description

technical field [0001] The invention relates to a robot fingertip design method, a grasping planner and a method for grasping an object by using a robot fingertip. Background technique [0002] Grasping is a fundamental capability required for robots to physically interact with the world. Contact-based grasping has been studied in various ways and shows great potential for applications that cannot be achieved with other forms of grasping. On the one hand, force analysis, stability estimation, manipulator configuration calculation, etc. can be carried out by means of precise contact modeling. On the other hand, contact-based grasping can grasp small or fragile objects since only fingertips are used for grasping, and more importantly, dexterous hand-held operation is also possible. [0003] Contact modeling is a fundamental aspect of the study of contact-based grasping. Grip quality can be evaluated by computing shape closure or force closure in moment space, but is also af...

AI Technical Summary

Problems solved by technology

Grip quality can be evaluated by calculating shape closure or force closure in moment space, but is also affected by friction and softness at the contact

However, in general, analytical contact modeling suffers from the following two main problems: 1) point contact models cannot accurately reflect real physical models; 2) they are easily affected by uncertainties in orientation, friction coefficient, visual perception, etc.

However, existing fingertip design methods are only suitable for some predefined artifacts and cannot be generalized to more objects

Moreover, the related art seldom takes the local geometry of the contact surface into account

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