Automatic grasp planning using shape primitives

Automatic grasp planning for robotic hands is a difficult problem because of the huge number of possible hand configurations. However, humans simplify the problem by choosing an appropriate prehensile posture appropriate for the object and task to be performed. By modeling an object as a set of shape primitives, such as spheres, cylinders, cones and boxes, we can use a set of rules to generate a set of grasp starting positions and pregrasp shapes that can then be tested on the object model. Each grasp is tested and evaluated within our grasping simulator "GraspIt!", and the best grasps are presented to the user. The simulator can also plan grasps in a complex environment involving obstacles and the reachability constraints of a robot arm.

[1]  J. Napier.  The prehensile movements of the human hand. , 1956, The Journal of bone and joint surgery. British volume.

[2]  Mark R. Cutkosky,et al.  Modeling manufacturing grips and correlations with the design of robotic hands , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  Christos H. Papadimitriou,et al.  Optimum Grip of a Polygon , 1987, Int. J. Robotics Res..

[4]  Sharon A. Stansfield,et al.  Robotic Grasping of Unknown Objects: A Knowledge-based Approach , 1991, Int. J. Robotics Res..

[5]  John F. Canny,et al.  Planning optimal grasps , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[6]  Jean-Daniel Boissonnat,et al.  On characterizing and computing three- and four-finger force-closure grasps of polyhedral objects , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[7]  John F. Canny,et al.  Easily computable optimum grasps in 2-D and 3-D , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[8]  Nancy S. Pollard,et al.  Parallel methods for synthesizing whole-hand grasps from generalized prototypes , 1994 .

[9]  Thea Iberall,et al.  Human Prehension and Dexterous Robot Hands , 1997, Int. J. Robotics Res..

[10]  Müjdat Çetin,et al.  A criteria-based approach to grasp synthesis , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  Gerd Hirzinger,et al.  A fast and robust grasp planner for arbitrary 3D objects , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[12]  Peter K. Allen,et al.  GraspIt!: A Versatile Simulator for Grasp Analysis , 2000, Dynamic Systems and Control: Volume 2.

[13]  Dan Ding,et al.  Computing 3-D optimal form-closure grasps , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[14]  Danica Kragic,et al.  Real-time tracking meets online grasp planning , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[15]  Peter K. Allen,et al.  Graspit! A versatile simulator for robotic grasping , 2004, IEEE Robotics & Automation Magazine.