Parallel algorithms for synthesis of whole-hand grasps
نویسنده
چکیده
This paper describes a parallel, dynamic programming algorithm for computing the space of high quality , whole-hand grasps of a target object that match a given grasp prototype, or example grasp. The grasp prototype is used to deene a quality measure that allows the contacts of a grasp to be optimized independently. Link conngurations that achieve high quality contacts are identiied and chained together to form good hand conngurations. This algorithm results in a six-dimensional projection of the global solution space. Grasps synthesized using this technique were tested using the Salisbury hand. An example grasp is shown.
منابع مشابه
Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples
One goal of grasp selection for robotics is to choose contact points that guarantee properties such as forceor form-closure. Many efficient algorithms have been developed to address this problem, but most of these algorithms focus on grasps having a minimal number of contact points. Increasing the number of contacts can dramatically improve the quality and flexibility of grasps that are constru...
متن کامل3D Objects Grasps Synthesis: A Survey
This survey reviews computational algorithms for generating 3D objects grasps with autonomous multi-fingered robotic hands. Over the past 20 years, grasping has been an increasingly active research area. Existing papers focus on reviewing the mechanics of grasping and the finger-object contacts interactions [21] or robot hand design and their control [4]. Robot grasp synthesis algorithms has be...
متن کاملSynthesizing grasps from generalized prototypes
This paper introduces a grasp synthesis algorithm that can use any grasp prototype as the starting point in a search for a good grasp. The algorithm makes the given prototype more eeective by generalizing it for a speciic task. This generalization step expands the range of application of the prototype to a wide variety of target object geometries, while ensuring that the resulting grasps are ap...
متن کاملVision-based three-finger grasp synthesis constrained by hand geometry
This paper presents a practical approach for synthesizing two and three-finger grasps on planar unknown objects by means of vision. We make use visual perception to reduce the uncertainty and to obtain relevant information about the objects. Moreover, we focus on non-modeled planar extruded objects, that can represent most real-world objects. Finally, we also take into account the particular me...
متن کاملParallel methods for synthesizing whole-hand grasps from generalized prototypes
Robotic hands are very exible mechanisms. Because of this exibility, it has been di cult to automate the process of acquiring objects using these robotic hands. Each new grasping problem is too complex to analyze without the use of good heuristics. Constraints due to target object geometry, environment geometry, hand kinematics and geometry, and a task description must all be considered when fo...
متن کامل