Task-Oriented Grasping using Hand Preshapes and Task Frames

In this paper we present a robot that is able to perform daily manipulation tasks in a home environment, such as opening doors and drawers. Taking as input a simplified object model and the task to perform, the robot automatically finds a grasp suitable for the task and performs it. For this, we identify a set of hand preshapes and classify them according to the grasp wrench space they generate. Given a task, the robot selects the most suitable hand preshape and automatically plans a set of actions in order to reach the object and to perform the task, taking continuously into account the task forces. The concept of hand preshape is extended for the inclusion of a task frame, which is a concept from task planning, thus filling the gap between the grasp and the task.