This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties of the problem include that the set of feasible grasps is a manifold implicitly defined by a system of non-linear equations, the high dimension of this manifold, and the multi-modal nature of typical grasp quality indices, which make local optimization methods get trapped into local extrema. The proposed procedure finds a way around these difficulties by focussing the exploration on a relevant subset of grasps of lower dimension, which is traced out exhaustively using higher-dimensional continuation techniques. Using these techniques, a detailed atlas of the subset is obtained, on which the highest quality grasp according to any desired criterion can be readily identified. Experiments on a 3-finger planar hand and on the Schunk anthropomorphic hand validate the approach. ; Peer Reviewed ; Postprint (author’s final draft)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    On the synthesis of feasible and prehensile robotic grasps

    Rosales Gallegos, Carlos / Suárez Feijóo, Raúl / Gabiccini, Marco et al. | BASE | 2012

    Freier Zugriff

    Robot Grasps Rotating Object

    Wilcox, Brian H. / Tso, Kam S. / Litwin, Todd E. et al. | NTRS | 1991


    System and method for computing grasps for a robotic hand with a palm

    HAGER GREGORY D / WEGBREIT ELIOT LEONARD | Europäisches Patentamt | 2020

    Freier Zugriff

    Shape-Memory Probe Grasps Small Objects

    Angulo, Earl D. | NTRS | 1992