2010 · 113 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringGraspingRobot KinematicsRoboticsGrasping KinematicsKinematic ConstraintsOptimal ControlRobot ManipulationRobot ManipulatorsRobotic Hand DesignConstraintsDexterous GraspingMulti-fingered HandsMulti-objective Optimization In Robot KinematicsNonlinear ConstraintsNonlinear OptimizationOnline OptimizationReal-time Kinematic Optimization
A robotic ball-catching system built from a multi-purpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization problem with nonlinear constraints. Three different objective functions are implemented, leading to significantly different robot movements. The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores). The system achieves a catch rate of > 80% and is regularly shown as a live demo at our institute.
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DLR-Hand II: next generation of a dextrous robot hand
J. Butterfaß, Markus Grebenstein, Haoliang Liu et al. · 2002 · 814 citations
Engineering, Mechatronics Engineering, Robotics Engineering +17
Manipulation planning on constraint manifolds
Dmitry Berenson, Siddhartha S Srinivasa, Dave Ferguson et al. · 2009 · 302 citations · Full text