Grasp Planning for Three-Fingered Robot Hands using Taxonomy-Based Preformed Grasp and Object Primitives

파지 예비형상과 물체원형 정보를 활용한 세손가락 로봇손의 파지경로계획

In this paper, we present a grasp planning method using grasp taxonomy and object primitives. Our grasp taxonomy includes newly defined grasp methods such as thumb supported pinch and palm supported pinch, to enhance grasp robustness. On the target surface, locations of finger-print that will be contacted by the robot fingers are sampled. The sampling is made to be consistent to the grasp taxonomy, called preformed grasps, matched to the target object. We perform simulations to examine the validity and the efficacy of the proposed grasp planning method.