文章基本信息

标题：Optimal Grasping Pose Synthesis in a Constrained Environment
本地全文：下载
作者：Alessandro Altobelli ; Ozan Tokatli ; Guy Burroughes 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2021
卷号：10
期号：1
页码：4
DOI：10.3390/robotics10010004
出版社：MDPI Publishing
摘要：In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement; therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed.
关键词：glovebox; nuclear robotics; grasping; autonomous system; waste decommissioning glovebox ; nuclear robotics ; grasping ; autonomous system ; waste decommissioning