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Stochastic optimization-based approach for multifingered grasps synthesis

Published online by Cambridge University Press:  18 January 2010

Belkacem Bounab ,
Abdenour Labed  and
Daniel Sidobre
Belkacem Bounab*
Affiliation:
Laboratory of Structure Mechanics of Polytechnic School (LMS-EMP), BP 17, 16111-Bordj El-Bahri, Algeria and, LAAS-CNRS of University of Toulouse, 7 Avenue du Colonel Roche 31077-Toulouse, France.
Abdenour Labed
Affiliation:
Laboratory of Applied Mathematics of Polytechnic School (LMA-EMP), BP 17, 16111-Bordj El-Bahri, Algeria.
Daniel Sidobre
Affiliation:
LAAS-CNRS of University of Toulouse, 7 Avenue du Colonel Roche 31077-Toulouse, France.
*
*Corresponding author. E-mail: belkacem.bounab@laas.fr
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Summary

In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming problem, which we solve using an interior point method. Furthermore, we present an approach for finding appropriate stable grasps for a robotic hand on arbitrary objects. We use the simulated annealing technique for synthesizing suboptimal grasps of 3D objects. Through numerical simulations on arbitrary shaped objects, we show that the proposed approach is able to compute good grasps for multifingered hands within a reasonable computational time.

Keywords

Force-closureGrasp planningMultifingered robot hand
Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 1021 - 1032
Copyright
Copyright © Cambridge University Press 2010

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