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Graspit! A versatile simulator for robotic grasping

Andrew T. Miller; Peter K. Allen

Title:
Graspit! A versatile simulator for robotic grasping
Author(s):
Miller, Andrew T.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Volume:
11
Permanent URL:
Book/Journal Title:
IEEE Robotics & Automation Magazine
Abstract:
A robotic grasping simulator, called Graspit!, is presented as versatile tool for the grasping community. The focus of the grasp analysis has been on force-closure grasps, which are useful for pick-and-place type tasks. This work discusses the different types of world elements and the general robot definition, and presented the robot library. The paper also describes the user interface of Graspit! and present the collision detection and contact determination system. The grasp analysis and visualization method were also presented that allow a user to evaluate a grasp and compute optimal grasping forces. A brief overview of the dynamic simulation system was provided.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/MRA.2004.1371616
Item views:
86
Metadata:
text | xml

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