An Analytical Grasp Planning on Given Object with Multifingered Hand

Ying Li, Yong Yu, and Showzow Tsujio

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3749 - 3754, May, 2002

Abstract

In this paper, an analytical approach is proposed for planning finger positions of an object with multifingered hand. At first, a method is given to obtain which combination of the object edges is possible to be used for grasping. Then, Graspable Finger Position Region (GFPR) on a combination of the object edges is defined where the object can be held successfully. It is shown that the region is bounded by plural boundary hyperplanes. With the combining these boundary hyperplanes, two propositions for analytically and exactly obtaining the GFPR are proposed. And, an algorithm is proposed to find the Stable GFPR that contains the biggest inscribed hyper-spheres of GFPR and has the larger volume. Lastly, numerical example is performed to show the effectiveness of the proposed grasp planning approach.

BibTeX

@conference{Li-2002-8464,
author = {Ying Li and Yong Yu and Showzow Tsujio},
title = {An Analytical Grasp Planning on Given Object with Multifingered Hand},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2002},
month = {May},
volume = {4},
pages = {3749 - 3754},
}

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