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Planning Grasps for a Robot Hand

By In The Presence and Nancy S. Pollard


In grasp planning for a robot hand, the impact of the environment geometry on grasp choice is often of paramount importance. This paper presents a partial solution to the problem of fitting a hand to an object in a given environment. Information provided by a set of fingertip contact regions or by a grasp prototype is exploited to efficiently compute the space of wrist configurations from which the grasp specifications can be met. The size and shape of this solution space reflect the constraints imposed by the environment geometry; they can be used to compare a grasp to others or to resolve grasp symmetries (e.g. in a wrap grasp of a cylinder). A quality metric computed over the solution space can be used to optimize a grasp. The paper describes a general method for computing this solution space, and presents a parallel implementation. Examples demonstrate grasp comparison and symmetry resolution

Year: 1993
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