A fast and robust grasp planner for arbitrary 3D objects

Author

Borst, Ch ; Fischer, M. ; Hirzinger, G.

Author_Institution

Inst. of Robotics & Syst. Dynamics, German Aerosp. Res. Establ., Wessling, Germany

Volume

3

fYear

1999

fDate

1999

Firstpage

1890

Abstract

In order to grasp and manipulate real world objects, grasp planning systems are required, and they have to be very fast in order to be integrated in online planning systems for robots. This paper presents a method to compute a desirable grasp quality measure very fast and accurately. Based on this measure a heuristic approach towards fast planning of precision grasps for arbitrarily shaped 3D objects is described. A number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using the described grasp quality measure and the best candidate is chosen. The planned grasps are robust with respect to grasp placement. It is shown that only a relatively small number of grasp candidates has to be generated in order to obtain a good, although not optimal, grasp

Keywords

dexterous manipulators; friction; manipulator kinematics; optimisation; planning (artificial intelligence); 3D object grasping; DLR hand; contact point placement; dexterous manipulators; friction cone; grasp planning; grasp quality measure; heuristic; Aerodynamics; Fingers; Force measurement; Orbital robotics; Power system planning; Resists; Robust stability; Robustness; Shape measurement; Torque measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770384

Filename

770384