Grasp planning for precision manipulation by multifingered robotic hand

Abstract

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.

Gross Motion Analysis of Fingertip-Based Within-Hand Manipulation

“…More specifically, we say herein that this type of dexterous manipulation task is performed without modifications in the assumed contact model between each fingertip and the object, and refer to it as precision manipulation ( Fig. 1) for the remainder of this paper (although the term has been used for a broader class of manipulation in other works [6,7]). …”

Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model

“…During the planning phase, contact locations between a hand and an object should be decided. Mirtich and Canny [14], Tsutomu Hasegawa [15] and Zhu and wang [16] addressed the problem of grasp planning. However, all these methods depended on precise geometric information of objects and assumed that models of object were known.…”

Characterization of the precision manipulation capabilities of robot hands via the continuous group of displacements

“…For simplicity, we refer to this type of dexterous manipulation task as precision manipulation (Fig. 1), although certainly the concept has been used for a broader class of manipulations in the domain of robot hands [8,9]. Examples of precision manipulation tasks include writing, inserting a key into a lock, and using scissors.…”