PROJECT TITLE :

Fast Grasp Planning Using Cord Geometry

ABSTRACT:

During this paper, we propose a novel idea to deal with the problem of quick computation of stable force-closure grasp configurations for a multifingered hand and a 3-D rigid object represented as a polygonal soup model. The proposed technique performs a low-level shape exploration by wrapping multiple cords around the item in order to quickly isolate promising grasping regions. Around these regions, we have a tendency to compute grasp configurations by applying a variant of the shut-until-contact procedure to seek out the contact points. The finger kinematics and the contact info are then used to filter out unstable grasps. Through many simulated examples with three completely different anthropomorphic hands, we tend to demonstrate that, compared with previous grasp planners such as the generic grasp planner in Simox, the proposed grasp planner can synthesize grasps that are a lot of natural-wanting for humans (as measured by the grasp quality live skewness) for objects with complex geometries in a very short quantity of time. In contrast to several alternative planners, this is often achieved without expensive model preprocessing like segmentation by elements and medial axis extraction.