1A1-L05 Grasp Planning based on Ellipsoidal and Cylindrical Approximation of grasped objects(Robot Hand Mechanism and Grasping Strategy(1))

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  • 1A1-L05 区分的な楕円体及び楕円柱面近似に基づく把持計画(ロボットハンドの機構と把持戦略(1))

Abstract

We present a grasp planning that approximates an object by combination of quadric surfaces. This approximation method can automatically represent various objects in daily life. The planner selects ellipsoid and elliptic cylinder surfaces, and generates grasp posture for each surface. Then we present a fast method of evaluating grasp stability for surface contact. This method approximates the friction cone as an ellipsoid so that it can calculate the resultant force/moment space quickly. We performed simulations and verified the effectiveness of our proposed method.

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