Grasp Planning for Multi-Fingered Hands Based on Rectangular Convex Models(Mechanical Systems)

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  • HARADA Kensuke
    National Institute of Advanced Industrial Science and Technology (AIST)
  • TSUJI Tokuo
    National Institute of Advanced Industrial Science and Technology (AIST)
  • KANEKO Kenji
    National Institute of Advanced Industrial Science and Technology (AIST)
  • KANEHIRO Fumio
    National Institute of Advanced Industrial Science and Technology (AIST)
  • MARUYAMA Kenichi
    National Institute of Advanced Industrial Science and Technology (AIST)

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  • 直方体モデルに基づく多指ハンドの把握計画(機械力学,計測,自動制御)
  • 直方体モデルに基づく多指ハンドの把握計画
  • チョクホウタイ モデル ニ モトズク タシ ハンド ノ ハアク ケイカク

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Abstract

This paper discusses the grasp planning for a multifingered hand attached at the tip of a humanoid robot's arm. Different from previous methods on grasp planning, we use the reculangular convex models for both the object and the hand grasping region. By using these models, we provide heuristic methods for determining both a grasping style and nominal position/orientation of the palm. With this method, we can easily obtain the nominal position/orientation of the palm. The final grasping posture can be obtained by testing the force closure just around the nominal position/orientation of the palm. We will show the effectiveness of the proposed method by using several numerical examples. Also, by using the four-fingered hand and the stereo vision system both equipped with the humanoid robot HRP-3P, we will perform the experiment of grasping an object.

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