Power grasp planning for anthropomorphic robot hands

@article{Roa2012PowerGP,
  title={Power grasp planning for anthropomorphic robot hands},
  author={M{\'a}ximo A. Roa and Max J. Argus and Daniel Leidner and Christoph Borst and Gerd Hirzinger},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={563-569}
}
This paper presents an approach for computing power grasps for hands with kinematic structure similar to the human hand, which allows the implementation of strategies inspired in human grasping actions. The proposed method first samples the object surface to look for the best spots for creating an opposing grasp with two or three fingers, and then aligns the other fingers to match the local curvature of the object surface. Different grasp strategies are considered, depending on the relative… CONTINUE READING
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