Abstract:
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This work proposes a solution to the grasp synthesis
problem, which consist of finding the best hand configuration
to grasp a given object for a specific manipulation task while
satisfying all the necessary constraints. This problem had been
divided into sequential sub-problems, including contact region
determination, hand inverse kinematics and force distribution,
with the particular constraints of each step tackled independently.
This may lead to unnecessary effort, such as when one
of the problems has no solution given the output of the previous
step as input. To overcome this issue, we present a kinestatic
formulation of the grasp synthesis problem that introduces
compliance both at the joints and the contacts. This provides
a proper framework to synthesize a feasible and prehensile
grasp by considering simultaneously the necessary grasping
constraints, including contact reachability, object restraint,
and force controllability. As a consequence, a solution of the
proposed model results in a set of hand configurations that
allows to execute the grasp using only a position controller.
The approach is illustrated with experiments on a simple planar
hand using two fingers and an anthropomorphic robotic hand
using three fingers. |