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Regrasp planning of a polygon in the plane for a 4-fingered hand การวางแผนการเปลี่ยนการจับวัตถุ หลายเหลี่ยมบนระนาบด้วยมือที่มี สี่นิ้ว โดย นายธนะธร พ่อค้า.

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Presentation on theme: "Regrasp planning of a polygon in the plane for a 4-fingered hand การวางแผนการเปลี่ยนการจับวัตถุ หลายเหลี่ยมบนระนาบด้วยมือที่มี สี่นิ้ว โดย นายธนะธร พ่อค้า."— Presentation transcript:

1 Regrasp planning of a polygon in the plane for a 4-fingered hand การวางแผนการเปลี่ยนการจับวัตถุ หลายเหลี่ยมบนระนาบด้วยมือที่มี สี่นิ้ว โดย นายธนะธร พ่อค้า อาจารย์ที่ปรึกษา ดร. อรรถวิทย์ สุดแสง

2 Outline Introduction Introduction Condition for grasping Condition for grasping Switching graph Switching graph Implementation and results Implementation and results Conclusion Conclusion

3 Introduction Regrasp Regrasp Force-closure Force-closure Equilibrium Equilibrium Concurrent grasp Concurrent grasp Parallel grasp Parallel grasp 2-fingered grasp 2-fingered grasp Switching graph Switching graph

4 Introduction Switching diagram Switching diagram concurrent grasps 2-fingered grasps parallel grasps

5 Condition for grasping Sufficient condition Sufficient condition a1a1 a3a3 a2a2  three-finger equilibrium grasp a2a2 C1C1 C2C2 C3C3 a1a1   a3a3 “concurrent grasp”

6 Switching graph Point in the plane can represent a set of grasps. Point in the plane can represent a set of grasps. Independent contact region Independent contact region EaEa EbEb EcEc EaEa EbEb x0x0 EcEc EaEa EbEb EcEc F a,b,c

7 a b c d Switching graph a,b,ca,b,d F a,b,c F a,b,d

8 Switching graph.. F a,b,c F a,b,d F b,d,e q1q1 q2q2 F a,b,d q1q1 q2q2 Finger aligning Finger aligning

9 Switching graph i j B A C 22 22 i 22 22 j 22 22 O(n 3 ), n is the number of polygon’s edges.

10 Condition for grasping two-finger equilibrium grasp

11 Switching graph Focus cell Focus cell EaEa EbEb EbEb EaEa F a,b x0x0 EbEb EaEa (  - 2 ,  + 2  )

12 Switching graph Finger switching Finger switching F a,c  F b,c,d q.. q F a,c EaEa EcEc. q F b,c,d EcEc EbEb EdEd

13 Switching graph Finger aligning Finger aligning F a,b q1q1 q2q2 F b,c,d q2q2. q1q1. EbEb EaEa

14 Switching graph i 22 22 j O(n 2 ), n is the number of polygon’s edges.

15 Condition for grasping three-finger equilibrium grasp with parallel contact forces three-finger equilibrium grasp with parallel contact forces middle

16 Condition for grasping  

17 x0x0 x1x1 x2x2...

18 Switching graph EaEa EbEb EcEc EbEb EcEc Set of parallel grasps Set of parallel grasps

19 Switching graph Finger switching Finger switching EaEa EdEd EcEc EbEb EcEc EbEb

20 Switching graph Finger switching Finger switching EaEa EcEc EbEb EcEc EdEd EbEb EdEd

21 Switching graph Finger switching Finger switching EaEa EbEb EcEc EdEd EbEb EcEc EdEd EaEa

22 Switching graph Finger switching Finger switching EaEa EbEb F a,b EbEb EaEa

23 Switching graph Finger switching Finger switching EdEd EbEb F b,d EbEb EaEa EcEc

24 F a,b Switching graph Finger switching Finger switching EaEa EbEb EcEc EaEa EbEb EbEb EcEc

25 Switching graph Finger aligning Finger aligning

26 Switching graph i 22 β α α+θα+θ β+θβ+θ β+  - θ β+  - 2 θ α +  + θ α +  + 2θ j O(n 3 ), n is the number of polygon’s edges.

27 Switching graph a,b,d a,b,c b,d,f b,e g,h g,i,j i,j,k j,k,lk,l

28 Implementation Polygon objects Polygon objects 1.8 GHz CPU 1.8 GHz CPU C++ & LEDA C++ & LEDA

29 Results Concurrent grasp Concurrent grasp #edges#nodes#edges#connectedtime(sec)

30 Results Parallel grasp Parallel grasp #edges#nodes#edges#connectedtime(sec)

31 Results Concurrent & 2-fingered grasp Concurrent & 2-fingered grasp #edges#nodes#edges#connectedtime(sec)

32 Results Parallel & 2-fingered grasp Parallel & 2-fingered grasp #edges#nodes#edges#connectedtime(sec)

33 Results All grasps All grasps #edges#nodes#edges#connectedtime(sec)

34 Results Connected components Connected components #edgesConcurrentParallelC&2P&2All

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40 Conclusion Regrasp planning Regrasp planning Concurrent grasp Concurrent grasp 2-fingered grasp 2-fingered grasp Parallel grasp Parallel grasp Dexterous manipulation Dexterous manipulation Other conditions for parallel grasp Other conditions for parallel grasp Random approach Random approach

41 Future works Optimal grasp Optimal grasp Independent contact region Independent contact region Minimum force required for resist external force Minimum force required for resist external force Closest distance between centroid of contact points and center of mass Closest distance between centroid of contact points and center of mass Other objects Other objects Polyhedral object Polyhedral object Curved object Curved object

42 Thank you


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