A Grasp Planner Based On Inertial Properties

The future personal robot must be capable to work and take decisions in a dynamic human environment. One important capability of such a robot is manipulation. Grasp, as the beginning of any manipulation task is a key point. In this paper we present a grasp planner for manipulating real objects modeled by polyhedra. The algorithm is based on a random generation of grasp oriented by mass and inertial properties of the object. Recent techniques to filter and evaluate the quality of grasp are discussed.