Fast Grasp Planning Using Cord Geometry
Résumé
In this paper, we propose a novel idea to address the
problem of fast computation of stable force-closure grasp configurations
for a multifingered hand and a 3-D rigid object represented
as a polygonal soup model. The proposed method performs
a low-level shape exploration by wrapping multiple cords around
the object in order to quickly isolate promising grasping regions.
Around these regions, we compute grasp configurations by applying
a variant of the close-until-contact procedure to find the
contact points. The finger kinematics and the contact information
are then used to filter out unstable grasps. Through many simulated
examples with three different anthropomorphic hands, we
demonstrate that, compared with previous grasp planners such as
the generic grasp planner in Simox, the proposed grasp planner
can synthesize grasps that are more natural-looking for humans
(as measured by the grasp quality measure skewness) for objects
with complex geometries in a short amount of time. Unlike many
other planners, this is achieved without costly model preprocessing
such as segmentation by parts and medial axis extraction.
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