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基于经验的抓取姿态构造及数据手套校正

王滨 戴树岭

王滨, 戴树岭. 基于经验的抓取姿态构造及数据手套校正[J]. 北京航空航天大学学报, 2010, 36(9): 1084-1088.
引用本文: 王滨, 戴树岭. 基于经验的抓取姿态构造及数据手套校正[J]. 北京航空航天大学学报, 2010, 36(9): 1084-1088.
Wang Bin, Dai Shuling. Experience based grasping gesture synthesis and data glove calibration[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(9): 1084-1088. (in Chinese)
Citation: Wang Bin, Dai Shuling. Experience based grasping gesture synthesis and data glove calibration[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(9): 1084-1088. (in Chinese)

基于经验的抓取姿态构造及数据手套校正

基金项目: 国家高技术研究发展计划(863)资助项目(2009AA01Z333)
详细信息
  • 中图分类号: TP 391.4

Experience based grasping gesture synthesis and data glove calibration

  • 摘要: 针对数据手套校正过程中真实人手姿态获取困难、校正模型简单的问题,提出一种基于真实抓取经验的校正数据库构造方法.该算法根据人手生理结构和手套传感器布局建立具有更高运动逼真度的虚拟手运动学模型,实现更为灵活的拇指运动和软手掌效果;在不需要任何外部硬件设备的情况下,将真实抓取经验与最优化理论结合,寻找针对给定三维物体及操作任务的最优抓取姿态,从而构造真实人手姿态数据库;利用最小二乘拟合和闭环迭代算法获得精确的数据手套传感器输出模型.实验结果表明:所提出的姿态构造方法能有效提高数据手套校正效率,且操作过程简单,易于实现自动化校正,适合实际工程应用.

     

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出版历程
  • 收稿日期:  2009-07-06
  • 网络出版日期:  2010-09-30

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