The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still requires a practical solution. The proposed method is based on the
computation of a set of independent contact regions on the object boundary such that a finger contact on each region produces a force-closure grasp, and then this set of regions is iteratively recomputed while
looking for a set of contact points that are reachable by a given hand. The search is done guided by a cost function that indicates the proximity of the hand fingertips to a candidate set of grasping contact points. The approach has been implemented for the Schunk Anthropomorphic Hand and planar objects,and application examples are included to illustrate its performance.
CitationGilart, F.; Suarez, R. Determining force-closure grasps reachable by a given hand. A: Symposium on Robot Control. "Preprints of the 10th IFAC Symposium on Robot Control". Dubrovnik: 2012.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: firstname.lastname@example.org