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JRM Vol.22 No.2 pp. 230-238
doi: 10.20965/jrm.2010.p0230
(2010)

Paper:

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Grasp Planning for a Multifingered Hand with a Humanoid Robot

Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro,
and Kenichi Maruyama

Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan

Received:
October 20, 2009
Accepted:
February 16, 2010
Published:
April 20, 2010
Creative Commons License
Keywords:
multifingered hand, humanoid robot, grasp planning, OpenRTM, force closure
Abstract
This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defines convex models on both the object and each grasp type. In considering geometrical relationships among these convex models, we determine the parameters required to define the final grasping configuration. We demonstrate effectiveness of grasp planning through simulation and experimental results.
Cite this article as:
T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, and K. Maruyama, “Grasp Planning for a Multifingered Hand with a Humanoid Robot,” J. Robot. Mechatron., Vol.22 No.2, pp. 230-238, 2010.
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