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Synthesizing grasp configurations with specified contact regions

AuthorsRosales, Carlos ; Ros, Lluís ; Porta, Josep M. ; Suárez, Raúl
KeywordsPrecision grasp
Grasp planning
Grasp synthesis
Contact constraint
Position analysis
Configuration problem
Issue Date2011
PublisherSage Publications
CitationInternational Journal of Robotics Research 30(4): 431-443 (2011)
AbstractIn this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. © 2011 The Author(s).
Publisher version (URL)http://dx.doi.org/10.1177/0278364910370218
Identifiersdoi: 10.1177/0278364910370218
issn: 0278-3649
e-issn: 1741-3176
Appears in Collections:(IRII) Artículos
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