NDLI: Grasp synthesis in cluttered environments for dexterous hands

Content Provider	IEEE Xplore Digital Library
Author	Berenson, D. Srinivasa, S.S.
Copyright Year	2008
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA (Berenson, D.) \|\| Intel Res. Pittsburgh, Pittsburgh, PA (Srinivasa, S.S.)
Abstract	We present an algorithm for efficiently generating collision-free force-closure grasps for dexterous hands in cluttered environments. Computing a grasp is complicated by the high dimensionality of the hand configuration space, and the high cost of validating a candidate grasp by collision-checking and testing for force-closure. When an object is placed in a new scene, we use a novel cost function to focus our search to good regions of hand pose space for a given preshape. The proposed cost function is fast to compute and encapsulates aspects of the object, the scene, and the force-closure of the ensuing grasp. The low-cost candidate grasps produced by the search are then validated. We demonstrate the generality of our approach by testing on the 3-fingered 4DOF barrett hand and the anthropomorphic 22DOF shadow hand. We also propose an extension of the algorithm for two-handed grasps and demonstrate it on the HRP3 hands. Our results show that the candidate grasps generated by our algorithm consistently have high probability of being valid for various hands, objects and scenes. Finally, we describe an implementation on a WAM arm with a barrett hand.
Starting Page	189
Ending Page	196
File Size	12530481
Page Count	8
File Format	PDF
ISBN	9781424428212
DOI	10.1109/ICHR.2008.4755944
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-01
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Information geometry Shape Layout Fingers Humanoid robots Cost function Geometrical optics Anthropomorphism Testing Orbital robotics
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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