Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems

Abstract

In the grasping and manipulation of 3D deformable objects by robotic hands, the physical contact constraints between the fingers and the object have to be considered in order to validate the robustness of the task. Nevertheless, previous works rarely establish contact interaction models based on these constraints that enable the precise control of forces and deformations during the grasping process. This paper considers all steps of the grasping process of deformable objects in order to implement a complete grasp planning pipeline by computing the initial contact points (pregrasp strategy), and later, the contact forces and local deformations of the contact regions while the fingers close over the grasped object (grasp strategy). The deformable object behavior is modeled using a nonlinear isotropic mass-spring system, which is able to produce potential deformation. By combining both models (the contact interaction and the object deformation) in a simulation process, a new grasp planning method is proposed in order to guarantee the stability of the 3D grasped deformable object. Experimental grasping experiments of several 3D deformable objects with a Barrett hand (3-fingered) and a 6-DOF industrial robotic arm are executed. Not only will the final stable grasp configuration of the hand + object system be obtained, but an arm + hand approaching strategy (pregrasp) will also be computed.

Research on two-stage grasping planning method for multifingered dexterous hand

“…Analytical methods are mainly used for a specific grasp type (Hegedus et al , 2022), and it is difficult to be transplanted into the actual scene (Bohg et al , 2014). Furthermore, calculating the inverse kinematics of the dexterous hand during grasping can result in high time costs (Zaidi et al , 2020).…”

Editorial for Special Issue “Automation and Robotics: Latest Achievements, Challenges and Prospects”

“…The second strongest group of published papers enhances the field of mechanization, automation and robotics focused on production technologies and mechanical engineering. The authors of this group of papers [5][6][7][8][9] combine results oriented to the design of the mechanical parts with the support of 3D adjustable simulations and other objects designed for kinematic data adaptation and positioning of industrial robots. The authors of these papers deal with advanced theoretical topics related to the statics and dynamics of action elements of robotic systems [10][11][12][13].…”