Title :
Grasp synthesis of polygonal objects
Author :
Park, Young C. ; Starr, Gregory P.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
A simple and efficient algorithm is presented to find the best force closure grasp on a planar polygon with a three-fingered robot hand. In searching for the best grasp, force closure grasps on each feasible combination of edges and/or vertices are constructed using computational geometry. A heuristic function formulated from the consideration of uncertainty in grasping is used to evaluate the quality of each grasp. A test of the algorithm on several different polygons shows that the resulting grasp is realistic and fast enough for real-time use
Keywords :
computational geometry; heuristic programming; planning (artificial intelligence); robots; computational geometry; force closure grasp; grasp synthesis; heuristic function; planar polygon; polygonal objects; three-fingered robot hand; Computational geometry; Fingers; Grasping; Laboratories; Mechanical engineering; Robotics and automation; Robots; Solid modeling; Testing; Uncertainty;
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.1990.126233
