Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Grasp Planning of Object Based on Weighted Composite Grasp Index

가중치를 갖는 복합 파지 지수를 기반으로 한 물체의 파지 계획

  • Kim, Byoung-Ho ;
  • Yi, Byung-Ju (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Oh, Sang-Rok (Intelligent Control Research Center, Korea Institute of Science and Technology) ;
  • Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University)
  • 김병호 (한양대학교 전자컴퓨터공학부, 한국과학기술연구원 지능제어연구센터) ;
  • 이병주 (한양대학교 전자컴퓨터공학부) ;
  • 오상록 (한국과학기술연구원 지능제어연구센터) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부)
  • Published : 2000.11.01
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Abstract

When a robot hand grasp an object, the number of ways to grasp it stably are infinite and thus an optimal grasp planning is needed to find the optimal grasp points for satisfying the objective of the given task. In this paper, we first define some grasp indices to evaluate the quality of each feasible grasp and then a weighted composite grasp index by combining all of the grasp indices is also defined. Next, we propose a method to find the optimal grasp points of the given object by comparing the defined weighted composite grasp index for each feasible grasp points. By simulation results, we show the effectiveness of the proposed optimal grasp planning method and also discuss the trend of each grasp index as the grasp polygon.

Keywords

References

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