Automatic grasp planning using shape primitives
Andrew T. Miller; Steffen Knoop; Henrik Iskov Christensen; Peter K. Allen
- Automatic grasp planning using shape primitives
Miller, Andrew T.
Christensen, Henrik Iskov
Allen, Peter K.
- Computer Science
- Permanent URL:
- Book/Journal Title:
- 2003 IEEE International Conference on Robotics and Automation : proceedings : September 14-19, 2003, the Grand Hotel, Taipei, Taiwan
- Publisher Location:
- Piscataway, N.J.
- Automatic grasp planning for robotic hands is a difficult problem because of the huge number of possible hand configurations. However, humans simplify the problem by choosing an appropriate prehensile posture appropriate for the object and task to be performed. By modeling an object as a set of shape primitives, such as spheres, cylinders, cones and boxes, we can use a set of rules to generate a set of grasp starting positions and pregrasp shapes that can then be tested on the object model. Each grasp is tested and evaluated within our grasping simulator "GraspIt!", and the best grasps are presented to the user. The simulator can also plan grasps in a complex environment involving obstacles and the reachability constraints of a robot arm.
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