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Kinematic enveloping grasp planning method for robotic dexterous hands and three-dimensional objects

Published online by Cambridge University Press:  01 May 2008

Shahram Salimi  and
Gary M. Bone
Shahram Salimi
Affiliation:
Department of Mechanical Engineering, McMaster University, Hamilton, Ontario L8S 4L7, Canada
Gary M. Bone*
Affiliation:
Department of Mechanical Engineering, McMaster University, Hamilton, Ontario L8S 4L7, Canada
*
*Corresponding author. E-mail: gary@mcmaster.ca
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Summary

Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. This paper describes a new method for kinematic 3D enveloping grasp planning. A new idea for grading the 3D grasp search domain for a given object is proposed. The grading method analyzes the curvature pattern and effective diameter of the object, and grades object regions according to their suitability for grasping. A new approach is also proposed for modeling the fingers of the dexterous hand. The grasp planning method is demonstrated for a three-fingered, six degrees-of-freedom, dexterous hand and several 3D objects containing both convex and concave surface patches. Human-like high-quality grasps are generated in less than 20 s per object.

Keywords

Robotic handsEnveloping graspGrasp planningGrasping quality
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 331 - 344
Copyright
Copyright © Cambridge University Press 2007

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