EFFICIENT GRASP PLANNING WITH REACHABILITY ANALYSIS

Abstract

Grasping can be seen as two steps: placing the hand at a grasping pose and closing the fingers. In this paper, we introduce an efficient algorithm for grasping pose generation. By the use of preshaping and eigen-grasping actions, the dimension of the space of possible hand configurations is reduced. The object to be grasped is decomposed into boxes of a discrete set of different sizes. By performing finger reachability analysis on the boxes, the kinematic feasibility of a grasp can be determined. If a reachable grasp is force-closure and can be performed by the robotic arm, its grasping forces are optimized and can be executed. The novelty of our algorithm is that it takes into account both the object geometrical information and the kinematic information of the hand to determine the grasping pose, so that a reachable grasping pose can be found very quickly. Real experiments with two different robotic hands show the efficiency and feasibility of our method.