Title :
Bimanual grasp planning
Author :
Vahrenkamp, Nikolaus ; Przybylski, Markus ; Asfour, Tamim ; Dillmann, Rüdiger
Author_Institution :
Inst. for Anthropomatics, Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
Abstract :
The ability to grasp large objects with both hands enables bimanual robot systems to fully employ their capabilities in human-centered environments. Hence, algorithms are needed to precompute bimanual grasping configurations that can be used online to efficiently create whole body grasps. In this work we present a bimanual grasp planner that can be used to build a set of grasps together with manipulability information for a given object. For efficient grasp planning precomputed reachability information and a beneficial object representation, based on medial axis descriptions, are used. Since bimanual grasps may suffer from low manipulability, caused by a closed kinematic chain, we show how the manipulability of a bimanual grasp can be used as a quality measure. Therefore, manipulability clusters are introduced as an efficient way to approximatively describe the manipulability of a given bimanual grasp. The proposed approach is evaluated with a reference implementation, based on Simox [1], for the humanoid robot ARMAR-III [2]. Since the presented algorithms are robot-independent, there are no limitations for using this planner on other robot systems.
Keywords :
image representation; mobile robots; bimanual grasp planning; bimanual grasping configurations; bimanual robot systems; closed kinematic chain; human centered environments; manipulability clusters; medial axis descriptions; object representation; robot systems; Grasping; Joints; Kinematics; Planning; Robots; Shape; Vectors;
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
DOI :
10.1109/Humanoids.2011.6100824