Rosenbaum D A, Meulenbroek R J, Vaughan J, Jansen C
Department of Psychology, Pennsylvania State University, 642 Moore Building, University Park, Pennsylvania 16802, USA.
Psychol Rev. 2001 Oct;108(4):709-34. doi: 10.1037/0033-295x.108.4.709.
This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a constraint hierarchy--a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model.
本文描述了一种为抓取而实例化的运动规划模型。根据该模型，运动规划最重要的方面之一是建立一个约束层次结构——一组定义要执行任务的优先级要求。对于抓取，约束包括避免与待抓取物体碰撞以及最小化与运动相关的努力。这些和其他约束与实例检索（回忆存储的姿势）和实例生成（生成新姿势并向其移动）相结合，以模拟灵活的抓握。动态期限设置用于调节实例生成的终止，并且使用单个效应器一次执行多个运动来实现避障。该模型考虑了新旧数据。
