A fast grasp synthesis method for online manipulation

This paper presents a new method for solving the grasp optimization problem by a multi-finger robotic hand; this method allows gripping an object using three articulated fingers, in order to manipulate it later. Because of the large number of operations and the high computation time, online grasp ha...

Full description

Saved in:
Bibliographic Details
Published in:Robotics and autonomous systems 2011-06, Vol.59 (6), p.421-427
Main Authors: Daoud, N., Gazeau, J.P., Zeghloul, S., Arsicault, M.
Format: Article
Language:English
Subjects:
Articulated
Computation
Fingers
Fingertips
Genetic
Grasping
Mechanical hand
On-line systems
Online
Optimization
Robotics
Synthesis
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a new method for solving the grasp optimization problem by a multi-finger robotic hand; this method allows gripping an object using three articulated fingers, in order to manipulate it later. Because of the large number of operations and the high computation time, online grasp has not yet been reported. In this study, we propose a method that is able to provide an optimized initial grasp in a short time before online manipulation. ► We develop algorithms for grasping and manipulation with mechanical hands. ► The grasp optimization problem is solved using a genetic approach. ► A method for the computation of a fingertip force is detailed. ► Simulation and experimental results with a mechanical hand are given in the paper.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2011.02.005