共查询到19条相似文献,搜索用时 812 毫秒
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多指灵巧手与环境的接触力控制是其抓持物体并进行作业的基础,也是一个非常复杂的问题,本文用基于模糊控制的方法对多指灵巧手的接触力进行控制,并对非性性进行了补偿,实验结果表明所用方法是有效的。 相似文献
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基于深度神经网络模型,提出了一种适用于多指灵巧手的抓取手势优化方法。首先,在仿真环境下构建了一个抓取数据集,并在此基础上训练了一个卷积神经网络,依据目标物体单目视觉信息和多指灵巧手抓取位形来预测抓取质量函数,由此可以将多指灵巧手的抓取规划问题转化为使抓取质量最大化的优化问题,进一步,基于深度神经网络中的反向传播和梯度上升算法实现多指灵巧手抓取手势的迭代与优化。在仿真环境中,比较该网络和仿真平台对同一抓取位形的抓取质量评估结果,再利用所提出的优化方法对随机搜索到的初始手势进行优化,比较优化前后手势的力封闭指标。最后,在实际机器人平台上验证本文方法的优化效果,结果表明,本文方法对未知物体的抓取成功率在80%以上,对于失败的抓取,优化后成功的比例达到90%。 相似文献
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根据人类利用滑动或滚动方式进行灵巧操作的几种模式 ,在多指灵巧手—物体的抓持系统中 ,把实现这些灵巧操作模式的规划问题作为一个位形空间的重构问题进行全局和局部级的操作规划 ,开发了实现灵巧操作的规划算法 .仿真结果表明了方法的有效性和正确性 . 相似文献
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提出一种面向遥操作的多指手Multi-agent模型逻辑结构,采用Java语言设计了用户Agent、管理Agent 和手指Agent模型以及Multi-agent之间的通讯模块.使用Java3D与VRML建立多指手三维虚拟模型,开发了网络遥操作仿真平台.最后,在该平台上实现了多指手遥操作的虚拟再现,验证了多指手Multi-agent模型的可行性. 相似文献
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This article presents a methodology for the haptic perception of contour shapes of almost planar objects grasped by a five‐fingered robot hand as well as the detection of any object cavity. The originality of our approach resides in (1) finding the reaction force patterns at the fingertips of a five‐fingered robot hand that grasps different deformable objects (forward problem) and (2) using these contact force patterns to find the shapes of grasped objects (inverse problem) and (3) to determine material defects such as holes in an object with identified shape. Contact force patterns are generated in the forward problem by the finite element method (FEM) and the shape identification in the inverse problem is realized by a supervised neural network architecture using the backpropagation algorithm. Following shape identification, detection of holes is performed by clustering actual and prototypical contact force patterns using the self‐organizing feature maps of neural gas networks as an unsupervised hole‐screening method. ©1999 John Wiley & Sons, Inc. 相似文献
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为解决多指手模型复杂和模型参数不确定问题,针对一类不确定系统,给出了一种基于强化学习的控制方法,该方法将反馈控制与强化学习相结合;在多指手的控制中,反馈控制使关节和被抓持的物体运动跟踪期望轨迹,强化学习控制使关节和被抓持的物体运动逼近期望轨迹;仿真结果表明,该方法能克服多指手动力学模型的不确定性和黏性滑动摩擦力造成的影响,具有良好的鲁棒性,提高了控制性能。 相似文献
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E. A. Al-Gallaf 《Journal of Intelligent and Robotic Systems》2004,39(1):17-42
Fuzzy systems and models are useful for describing processes where the underlying physical mechanisms are not completely known and where a system behavior is understood in qualitative terms. Neurofuzzy systems have been employed in large number of intelligent based control systems and robotics, that is due to the ability to deal with large number of inputs and with the ability to learn and remember specific learned patterns. This paper investigates the employment of a neurofuzzy system for a multi-finger robot hand control and manipulation tasks. The approach followed here is to let a defined neurofuzzy system to learn the nonlinear functional relation that maps the entire hand joint positions and displacements to object displacement. This is done by avoiding the use of the Inverse Hand Jacobian, while observing the interaction between hand fingers and the object being grasped and manipulated. The developed neurofuzzy system approach has been trained for several object training patterns and hand postures within a cartesian based palm dimension. The paper demonstrates the proposed algorithm for a four fingered robot hand motion, where inverse hand Jacobian plays an important role in the hand dynamics and control. 相似文献
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本文通过作者实际设计的一个多片型视频编码器,系统地介绍了多片型视频编码器的结构特点及设计要点。特别对于视频前端解码和编码卡的主机接口,提供了详细的设计方法,原理简明且有效。 相似文献
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Jean‐Paul Gourret Amir Hariri Philippe Liverneaux 《Computer Animation and Virtual Worlds》2011,22(4):371-392
This work is designed to control the movement of hand structural agents under external action, using the implicit animation driven by explicit animation technique (AI‐CAE technique). Starting from the configuration of a hand at rest obtained by a 3D scanner and after meshing of the structural agents, we seek the configuration of the rigid agents under orthopaedic surgeon external action and interacting reliance of deformable and rigid agents. We have developed a model and software tools to answer this interactive application with adaptive execution. The first contribution comes from notations and definition of a versatile multi‐body system dedicated to the explicit and implicit animation. The second contribution comes from the implicit animation driven by explicit animation itself, and from its ability to mimic the role of cartilages and ligaments. The resulting technique is applied to the bone structure consistency of a specific human hand in the context of virtual hand orthopaedic surgery. The versatile specific multi‐body is made up of hierarchical interacting agents conceivable as a construction set of rigid bones with cartilages–ligaments and underlying links. The explicit animation produces a desired configuration from geometric command parameters of torsion, flexion, pivot and axis shifting, given in a scenario subdivided into temporal sequences. The implicit animation controls the movement by implementing a physics‐based model and fuzzy constraints of position and orientation. It gives better configuration than the explicit animation because it takes into account the interactions between agents, and it gives a neat solution without the problems of complexity due to geometric modelling. A methodology based on the AI‐CAE technique is discussed, medical expertise and validation tests are presented. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
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三维几何数据压缩研究进展 总被引:10,自引:0,他引:10
三维几何数据压缩是指对描述三维场景的模型数据进行压缩,以便于模型数据的存储和网络传输,在分布式虚拟现实,协同应用,多用户视频游戏,模型数据在计算机内部的存储和传输有着非常重要的意义。文中介绍了三维几何数据压缩方法,分面向单分辨率模型的压缩和面向多分辩率模型的在进行阐述,并讨论了当前最新的研究进展,分析了目前尚存在的问题和研究前景。 相似文献