Grasp planning algorithm for a multifingered hand-arm robot

Kawarazaki, Noriyuki; Hasegawa, Tsutomu; Nishihara, Kazue

doi:10.1109/robot.1998.677205

Cited by 9 publications

(4 citation statements)

References 14 publications

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“…We divide the grasp planning into several subprocesses which are generating the grasp plane, determining the contact points, and generating the wrist position. [6][7][8][9] This paper is organized as follows. The problem description of a grasp planning for a multifingered hand-arm robot is provided in Section 2.…”

Section: Introductionmentioning

confidence: 99%

A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space

2000

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This paper proposes a grasp planning for a multifingered hand-arm robot in the presence of obstacles. When the hand grasps an object, neither the hand nor the arm should collide with obstacles. However, it is very difficult to generate a collision-free grasp configuration of the hand-arm robot due to its abundant degrees of freedom of motion. To overcome this difficulty, we first decompose the hand-arm robot into the multifingered hand part and the arm part. We develop two methods of the grasp planning. In one method, a collision-free configuration of the hand part is planned first. Then, the arm configuration is planned so as to enable the hand configuration. In the other method, the collision-free configuration of the arm part is planned first and the multi-fingered hand configuration second. The best method is selected according to the space structure of the environment. Various heuristics are developed to improve the efficiency of the planning and implementation of the system. Simulation results are presented.

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Section: Introductionmentioning

confidence: 99%

A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space

2000

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“…Studies of the mechanics and control of the multi-fingered manipulation are found, for example in [4][5]. However, reports of research on planning of the grasping and the motion of manipulation are rather few [6] [7] [8], because of its tremendously large search space and complex constraints.…”

Section: Introductionmentioning

confidence: 99%

Grasp planning for precision manipulation by multifingered robotic hand

Hasegawa

Murakami²,

Matsuoka³

IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)

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This paper describes a model-based grasp planner for an articulated multi-fingered robotic hand. The planner searches for an initial grasp from which a required continuous motion of an object is achieved using fingertips alone while keeping rolling contact with the object. An adaptive search strategy has been developed and implemented : the error analysis of the failed grasp is made to find the most promising search direction. A quality measure of manipulation is newly introduced and evaluated to select a better grasp among possible candidates. Simulation results are demonstrated.

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“…There are many possible solutions to satisfy a desired purpose, therefore some criterions are necessary to fix the solution. Kawarazaki proposed two methods to generate the grasp configuration for multi-fingered hand-arm robot in the presence of obstacles [7]. In these methods, heuristics are employed for planning.…”

Section: Introductionmentioning

confidence: 99%

Dexterous manipulation from pinching to power grasping - strategy selection according to object dimensions and grasping position

Hasegawa

Ioka

Fukuda

et al.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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This paper discuses practical strategies for transition from a pinching to a power grasping, where a multi-fingered hand monnted on a robotic arm envelops a cylindrical object on a table. When the manipulation system grasps a cylindrical object like a pen on a desk, a complete enveloping is not impossible in the initial configuration. The system firstly pinches the object only with two or three fingers and then grasp it with fingers and a palm after regrasping. In this pinching-grasping transition maneuver, human unconsciously selects proper strategy according to some conditions including object dimensions and initial pinching positions. In this paper we therefore develop six possible strategies for this pinchinggrasping transition and then investigate their performances for some objects with various dimensions and various grasping positions, using numerical simulations. Based on their results, a strategy selection algorithm for these conditions is proposed and some experiment results are shown.

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Grasp planning algorithm for a multifingered hand-arm robot

Cited by 9 publications

References 14 publications

A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space

A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space

Grasp planning for precision manipulation by multifingered robotic hand

Dexterous manipulation from pinching to power grasping - strategy selection according to object dimensions and grasping position

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