Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Fresh data on Robotics are presented i n a new report. According to news reporting out of Bristol, United Kingdom, by N ewsRx editors, research stated, "Grasp planning for irregularly shaped objects u sing multifingered robotic hands is challenging due to the high dimensionality o f the search space and a lack of proper modeling methods for object geometry. To address these issues, we propose a grasp planning approach based on Gaussian pr ocess implicit surfaces (GPIS)." Our news journalists obtained a quote from the research from the University of t he West of England, "To explore the object geometry and identify feasible contac t positions and normals, our method introduces several moving points called attr actors along with a dynamical system. The dynamical system constrains and guides the attractors with the partial differentials of the GPIS, which can be conveni ently obtained through the linear expression of a GP. The hand motion is also gu ided by the dynamical system. In addition, an inverse kinematics method, which c onsiders finger joint limits, is developed to simultaneously adjust the palm pos e and finger joint angles for a feasible grasp. The performance of our method is demonstrated using various robotic hands and objects, and real robot experiment s are conducted to validate the planned grasp's effectiveness in reality."
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