Stable Grasps By Path Planning Using Artificial Fields
نویسندگان
چکیده
This paper proposes a new method for grasping an object positioned in a cluttered workspace. The grasping of an object usually relies on the analysis of its contour in order to determine the contact points for the ngers of the gripper. The planning of the positioning of the real gripper in the workspace at the chosen points is often considered as a separate problem. The method proposed in this paper plans the placing of the gripper onto the contour of the objects thereby considering the size and shape of the ngers. A collision-free grasp for a gripper is found by simulating an attractive motion of the gripper towards the object until a con guration is found that satis es the stability requirement. The technique relies on arti cial elds de ned over the workspace which are used to guide the motion of the gripper and to evaluate grasp con gurations. Appropriate strategies are used to overcome local minima during the search.
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