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Efficient Models for Grasp Planning With A Multi-fingered Hand

Jean-Philippe Saut 1 Daniel Sidobre 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper presents a simple grasp planning method for a multi-fingered hand. Its purpose is to compute a context-independent and dense set or list of grasps, instead of just a small set of grasps regarded as optimal with respect to a given criterion. By context-independent, we mean that only the robot hand and the object to grasp are considered. The environment and the position of the robot base with respect to the object are considered in a further stage. Such a dense set can be computed offline and then used to let the robot quickly choose a grasp adapted to a specific situation. This can be useful for manipulation planning of pick-and-place tasks. Another application is human-robot interaction when the human and robot have to hand over objects to each other. If human and robot have to work together with a predefined set of objects, grasp lists can be employed to allow a fast interaction. The proposed method uses a uniform sampling of the possible hand approaches. As this leads to many finger inverse kinematics tests, hierarchical data structures are employed to reduce the computation times. The data structures allow a fast determination of the points where the fingers can realize a contact with the object surface. The grasps are ranked according to a grasp quality criterion so that the robot will first parse the list from best to worse quality grasps, until it finds a grasp that is valid for a particular situation.
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Jean-Philippe Saut, Daniel Sidobre. Efficient Models for Grasp Planning With A Multi-fingered Hand. Robotics and Autonomous Systems, Elsevier, 2012, 60 (3), pp.1 - 12. ⟨10.1016/j.robot.2011.07.019⟩. ⟨hal-01995057⟩



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