โดย นายธนะธร พ่อค้า 457 03433 21...
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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 - PowerPoint PPT PresentationTRANSCRIPT
Regrasp planning of a polygon in Regrasp planning of a polygon in the plane for a 4-fingered handthe plane for a 4-fingered hand
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โด้ย นายธนะธร พ่$อค้�า โด้ย นายธนะธร พ่$อค้�า 457 0343457 03433 213 21
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OutlineOutline
IntroductionIntroductionCondition for graspingCondition for graspingSwitching graphSwitching graph Implementation and resultsImplementation and resultsConclusionConclusion
IntroductionIntroduction
RegraspRegrasp Force-closure Force-closure Equilibrium Equilibrium
Concurrent graspConcurrent grasp Parallel graspParallel grasp 2-fingered grasp2-fingered grasp
Switching graphSwitching graph
IntroductionIntroduction
Switching diagramSwitching diagram
concurrentgrasps
2-fingeredgrasps
parallelgrasps
Condition for graspingCondition for grasping
Sufficient conditionSufficient condition
a1
a3
a2
three-finger equilibrium grasp
a2
C1
C2
C3
a1
a3
“concurrent grasp”
Switching graphSwitching graph
Point in the plane can represent a set of Point in the plane can represent a set of grasps.grasps.
Independent contact regionIndependent contact region
Ea
EbEc
Ea
Eb
x0
Ec
Ea
EbEc
Fa,b,c
a
b
c
d
Switching graphSwitching graph
a,b,c a,b,d
Fa,b,c Fa,b,d
Switching graphSwitching graph
..
Fa,b,c
Fa,b,d
Fb,d,e
q1
q2Fa,b,d
q1
q2
Finger aligningFinger aligning
Switching graphSwitching graph
i
j
B A C2
2
i
2 2j
22
O(n3), n is the number of polygon’s edges.
Condition for graspingCondition for grasping
two-finger equilibrium grasp
Switching graphSwitching graph
Focus cellFocus cell
Ea
EbEb
Ea
Fa,bx0
Eb
Ea
2C
2C
( - 2 , + 2 )
Switching graphSwitching graph
Finger switchingFinger switching
Fa,c Fb,c,dq..
q
Fa,c
Ea
Ec
.q
Fb,c,d
Ec
EbEd
1
2
342
C
Switching graphSwitching graph
Finger aligningFinger aligning
Fa,b
q1 q2
Fa,b
Fb,c,d
q2
.q1
.
Eb
Ea
2C
Switching graphSwitching graph
i
2 2
j
O(n2), n is the number of polygon’s edges.
Condition for graspingCondition for grasping three-finger equilibrium grasp with parallel three-finger equilibrium grasp with parallel
contact forcescontact forces
middle
Condition for graspingCondition for grasping
PC
Condition for graspingCondition for grasping
x0
x1 x2
.
..
PC
Switching graphSwitching graph
Ea
EbEc
Eb
Ec
Set of parallel graspsSet of parallel grasps
PCPC
Switching graphSwitching graph
Finger switchingFinger switching
Ea Ed
Ec
Eb
Ec
Eb
Switching graphSwitching graph
Finger switchingFinger switching
Ea
Ec
Eb
Ec
Ed
EbEd
Switching graphSwitching graph
Finger switchingFinger switching
Ea
Eb Ec
Ed
Eb
Ec
EdEa
Switching graphSwitching graph
Finger switchingFinger switching
Ea
Eb
Fa,b
Eb
Ea
2C
Switching graphSwitching graph
Finger switchingFinger switching
Ed
Eb
Fb,d
Eb
Ea
Ec
PCPC
Fa,b
Switching graphSwitching graph
Finger switchingFinger switching
Ea
Eb Ec
Ea
Eb
Eb Ec
Switching graphSwitching graph
Finger aligningFinger aligning
Switching graphSwitching graph
i2 β
α
α+θβ+θ
β+ - θβ+ - 2θ
α + + θα + + 2θ
j
O(n3), n is the number of polygon’s edges.
Switching graphSwitching graph
a,b,d
a,b,c
b,d,f
b,e g,h
g,i,j
i,j,k
j,k,lk,l
ImplementationImplementation
Polygon objectsPolygon objects 1.8 GHz CPU1.8 GHz CPU C++ & LEDAC++ & LEDA
ResultsResults
Concurrent graspConcurrent grasp
#edges #nodes #edges #connected time(sec)
15 43 96 1 0.7
20 77 156 6 1.36
25 185 691 2 3.73
30 407 2099 1 10.75
35 550 3033 2 15.95
40 736 4580 1 28.53
ResultsResults
Parallel graspParallel grasp
#edges #nodes #edges #connected time(sec)
15 3 1 2 0
20 12 7 5 0
25 37 57 5 0.02
30 27 39 3 0.02
35 64 109 5 0.03
40 106 215 8 0.09
ResultsResults
Concurrent & 2-fingered graspConcurrent & 2-fingered grasp
#edges #nodes #edges #connected time(sec)
15 53 243 1 0.95
20 89 351 3 1.75
25 206 1415 2 5.17
30 429 3162 1 13.56
35 576 4315 2 18.53
40 773 7056 1 29.28
ResultsResults
Parallel & 2-fingered graspParallel & 2-fingered grasp
#edges #nodes #edges #connected time(sec)
15 13 55 1 0.13
20 24 101 1 0.2
25 58 436 1 0.69
30 49 390 1 0.61
35 90 714 1 1.17
40 143 1439 1 2.16
ResultsResults
All graspsAll grasps
#edges #nodes #edges #connected time(sec)
15 56 253 1 0.97
20 101 386 3 1.94
25 243 1641 2 5.48
30 456 3321 1 13.2
35 640 4704 2 20.01
40 879 7829 1 30.33
ResultsResults
Connected componentsConnected components
#edges Concurrent Parallel C&2 P&2 All
15 1 2 1 1 1
20 6 5 3 1 3
25 2 5 2 1 2
30 1 3 1 1 1
35 2 5 2 1 2
40 1 8 1 1 1
ConclusionConclusion
Regrasp planningRegrasp planningConcurrent graspConcurrent grasp2-fingered grasp2-fingered graspParallel graspParallel grasp
Dexterous manipulationDexterous manipulationOther conditions for parallel graspOther conditions for parallel graspRandom approachRandom approach
Future worksFuture works
Optimal graspOptimal grasp Independent contact regionIndependent contact regionMinimum force required for resist external Minimum force required for resist external
forceforceClosest distance between centroid of contact Closest distance between centroid of contact
points and center of masspoints and center of massOther objectsOther objects
Polyhedral objectPolyhedral objectCurved objectCurved object
Thank youThank you