Grasp motion planning for box opening task by multi-fingered hands and arms

The aim of our project is to develop a robot to manipulate an object in human environment. In this paper, as a first step, we focus on opening paper box such as tea box, and present a method to plan grasp motion by 2 arms with multi-fingered hands. we propose a task priority based scheme to plan grasping area consistent with whole steps of the given task procedure. Based on the grasping area and the concept of preshape, we derive desired fingertip positions and hand base position and orientation for preshape. Based on the vector field approach, we propose a motion planning method for the planned grasp by multi-fingered hands to avoid any undesired collisions. This method can be applied to regrasping and a motion in which collision is required.