Planning for three-finger tip-prehension grasps

Abstract This paper discusses the planning of grasp configurations for three-fingered tip-prehension grasps. Geometric reasoning is incorporated into the selection process so that the task requirements, together with constraints on compatibility between the task's and the object's geometry, can be used to find feasible grasp configurations. A classification of objects is made, whereby they are divided into groups based on their geometric characteristics. Task requirements are then used for developing selection rules for each group of objects. In addition, methods for reaching a grasp in the existence of uncertainty are suggested.

[1]  Van-Duc Nguyen,et al.  The synthesis of stable grasps in the plane , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Richard A. Volz,et al.  Automatic generation of gripping positions , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[3]  Rajiv S. Desai,et al.  Automatic two-fingered grip selection , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  N. Kuiper.  Double normals of convex bodies , 1964 .

[5]  S. Shankar Sastry,et al.  Task-oriented optimal grasping by multifingered robot hands , 1987, IEEE J. Robotics Autom..

[6]  H. Hanafusa,et al.  Stable Prehension by a Robot Hand with Elastic Fingers , 1977 .

[7]  J. Michael McCarthy,et al.  On grasping planar objects with two articulated fingers , 1985, IEEE J. Robotics Autom..

[8]  Van-Duc Nguyen,et al.  Constructing force-closure grasps , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  Shaheen Ahmad,et al.  Determining a static robot grasp for automated assembly , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.