Publication
Synthesizing grasp configurations with specified contact regions
Journal Article (2011)
Journal
The International Journal of Robotics Research
Pages
431-443
Volume
30
Number
4
Doc link
http://dx.doi.org/10.1177/0278364910370218
File
Authors
-
Rosales Gallegos, Carlos
-
Ros Giralt, Lluís
-
Porta Pleite, Josep Maria
-
Suárez Feijóo, Raúl
Projects associated
Abstract
In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand–object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand–object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand.
Categories
robots.
Author keywords
configuration problem, precision grasp, grasp planning, grasp synthesis, contact constraint, position analysis, inverse kinematics, anthropomorphic hand, prehension
Scientific reference
C. Rosales, L. Ros, J.M. Porta and R. Suárez. Synthesizing grasp configurations with specified contact regions. The International Journal of Robotics Research, 30(4): 431-443, 2011.
Follow us!