After a grasp has been planned, if the object orientation changes, the initial grasp may but not always have to be modified to accommodate the orientation change. For example, rotation of a cylinder by any amount around its centerline does not change its geometric shape relative to the grasper. Objects that can be approximated to solids of revolution or contain other geometric symmetries are prevalent in everyday life, and this information can be employed to improve the efficiency of existing grasp planning models. This paper experimentally investigates change in human-planned grasps under varied object orientations. With 13,440 recorded human grasps, our results indicate that during pick-and-place task of ordinary objects, stable grasps can be achieved with a small subset of grasp types, and the wrist-related parameters follow normal distribution. Furthermore, we show this knowledge can allow faster convergence of grasp planning algorithm.
翻译:如果目标方向发生变化,最初的把握可能但不一定总是需要修改,以适应方向变化。例如,圆柱体在中线周围旋转任何数量不会改变其相对于捕捉器的几何形状。可以与革命固体相近的物体或含有其他几何对称的物体在日常生活中很普遍,这一信息可用于提高现有捕捉规划模型的效率。本文实验性地调查了不同目标方向下人类规划的捕捉的变化。有13 440个记录到的人类捕捉,我们的结果显示,在普通物体的选取和定位任务期间,可以用一小部分抓取类型实现稳定的抓住,手腕相关参数也遵循正常分布。此外,我们显示,这种知识可以使捕捉规划算法更快地趋同。