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A heuristic approach to grasp planning for a multifingered hand-arm robot based on the structure of empty space

Published online by Cambridge University Press:  01 January 2000

Noriyuki Kawarazaki ,
Tsutomu Hasegawa  and
Kazue Nishihara
Noriyuki Kawarazaki
Affiliation:
Dept. of System Design Engineering, Kanagawa Institute of Technology, Shimo-Ogino 1030, Atsugi, Kanagawa, (Japan)
Tsutomu Hasegawa
Affiliation:
Graduate School of Information Science and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, Fukuoka, (Japan)
Kazue Nishihara
Affiliation:
Dept. of System Design Engineering, Kanagawa Institute of Technology, Shimo-Ogino 1030, Atsugi, Kanagawa, (Japan)
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Abstract

This paper proposes a grasp planning for a multifingered hand-arm robot in the presence of obstacles. When the hand grasps an object, neither the hand nor the arm should collide with obstacles. However, it is very difficult to generate a collision-free grasp configuration of the hand-arm robot due to its abundant degrees of freedom of motion. To overcome this difficulty, we first decompose the hand-arm robot into the multifingered hand part and the arm part. We develop two methods of the grasp planning. In one method, a collision-free configuration of the hand part is planned first. Then, the arm configuration is planned so as to enable the hand configuration. In the other method, the collision-free configuration of the arm part is planned first and the multi-fingered hand configuration second. The best method is selected according to the space structure of the environment. Various heuristics are developed to improve the efficiency of the planning and implementation of the system. Simulation results are presented.

Keywords

Multifingered hand-arm robotGrasp planningObstacle avoidanceHeuristics
Type
Research Article
Information
Robotica , Volume 18 , Issue 1 , January 2000 , pp. 33 - 41
Copyright
© 2000 Cambridge University Press

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