Estimation of center of mass of the object to be held by barycentric coordinate system and polygon parcelling
Observations of human grasping 8] 7] have shown two phases: during the reaching phase of grasping, the hand preshapes in order to prepare the \shape matching" with the object to grasp, that is the following adjusting phase. Planning grasping with dextrous robotics hands can not be summarized to these two phases. We have to split the grasping process into several phases (frequently overlapped), and also we have to look at some arising problems such as: (1) object recognition (2) checking accessibility, (3) task planning, (4) initial touch and grab phase, (5) stable grasp phase, which are consciously or unconsciously generated by a human being. A major issue addressed in this work is to integrate the automatic planning of accessibility and the preshaping of objects to be grasped. The system is based on a 2d analysis of slices extracted from an octree representation of objects.