Framework of grasping planning for multi-fingered robot hands

In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human´s grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot´s imitating of human´s grasping plan intelligence.