NDLI: Grasp planning algorithm for a multifingered hand-arm robot

Content Provider	IEEE Xplore Digital Library
Author	Kawarazaki, N. Hasegawa, T. Nishihara, K.
Copyright Year	1998
Description	Author affiliation: Dept. of Mech. Syst., Kanagawa Inst. of Technol., Japan (Kawarazaki, N.)
Abstract	Provides a grasp planning algorithm for a multifingered hand-arm robot in the presence of obstacles. It is difficult to generate a grasp configuration for a multifingered hand-arm robot even though geometric information about an object and obstacles are all known, since a multifingered hand-arm robot has many degrees of freedom of motion. We don't give any information about a grasp position and a grasp shape of the hand in advance. Our grasp planning algorithm is composed of four steps. At the first step, we determine the grasp plane (GP) which includes contact points of fingertips. The feature of our grasp planning is to determine the GP according to the local structure of empty space around an object so that we generate the grasp configuration rapidly. In order to evaluate the structure of empty space around an object, we use a geodesic dome and distance transformation. After generation of the GP, we determine the contact point (CP) where the fingertip contacts an object surface. In the third step, we determine the wrist position (WP) where the hand grasps an object and the arm doesn't collide with obstacles. The actual grasp configuration of the multifingered hand-arm robot is generated based on the obtained CP and WP The effectiveness of our grasp planning algorithm is clarified by computer simulations with 3D graphics.
Starting Page	933
Ending Page	939
File Size	664248
Page Count	7
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.677205
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Motion planning Robotics and automation Shape Wrist Orbital robotics Mechanical systems Systems engineering and theory Information science Technology planning
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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