On computing task-oriented grasps

Abstract

This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a sensorized tool. The grasp quality is computed through a task compatibility criterion. Grasp synthesis is then formulated as a single constrained optimization problem, generating grasps that are feasible for the hand’s kinematics by maximizing the corresponding task-oriented quality criterion and ensuring grasp stability. The method was validated on a human hand model and is shown to be easily adapted to different hand kinematic models.

DOI: 10.1016/j.robot.2014.11.016

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Cite this paper

@article{ElKhoury2015OnCT, title={On computing task-oriented grasps}, author={Sahar El-Khoury and Ravin de Souza and Aude Billard}, journal={Robotics and Autonomous Systems}, year={2015}, volume={66}, pages={145-158} }