Title :
Planning two-fingered grasps for pick-and-place operations on polyhedra
Author :
Jones, Joseph L. ; Lozano-Pérez, Tomás
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
The authors focus on the crucial step in a pick-and-place operation, the choice of grasp. They describe an approach to choosing grasps, implemented in the task-level planning system HANDEY, which attempts to deal in a general fashion with the interaction between the choice of grasp and the choice of paths to reach the grasp. The approach is based on the systematic use of the configuration-space representation of the motion constraints on the robot. A very simple and efficient algorithm for approximating the configuration-space constraints leads to a practical method
Keywords :
planning (artificial intelligence); robots; HANDEY; configuration-space representation; pick-and-place operations; polyhedra; robot; task-level planning system; two-fingered grasp planning; Artificial intelligence; Fingers; Grippers; Kinematics; Laboratories; Service robots; Stability;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126063