Planning 3D regrasp operations with a polyarticulated mechanical hand

Authors:
J. P. Gazeau;S. Zeghloul;A. Fernandez;M. Arsicault
Affiliations:
Laboratoire de Mécanique des Solides, UMR, CNRS, Université de Poitiers, Chasseneuil Futuroscope Cedex, France;Laboratoire de Mécanique des Solides, UMR, CNRS, Université de Poitiers, Chasseneuil Futuroscope Cedex, France;Laboratoire de Mécanique des Solides, UMR, CNRS, Université de Poitiers, Chasseneuil Futuroscope Cedex, France;Laboratoire de Mécanique des Solides, UMR, CNRS, Université de Poitiers, Chasseneuil Futuroscope Cedex, France
Venue:
ICOSSE'06 Proceedings of the 5th WSEAS international conference on System science and simulation in engineering
Year:
2006

Citing 2
Cited 1

Planning of Regrasping Operations for a Dextrous Hand in Assembly Tasks

Journal of Intelligent and Robotic Systems
Manipulation with a polyarticulated mechanical hand: a new efficient real-time method for computing fingertip forces for a global manipulation strategy

Robotica

A biomimetic reach and grasp approach for mechanical hands

Robotics and Autonomous Systems

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Abstract

This paper presents a method to solve the regrasping problem in the context of object manipulation with a mechanical hand. This problem is met during an object manipulation when one finger reaches the boundary of its workspace or when a collision between parts occurs. Our method synthesizes a new feasible grasp when this problem appears by a sequence of grasps involving the fourth free finger. The grasp synthesis problem is formulated as an optimization problem involving many parameters solved by using genetic algorithms. In order to validate this approach, basic manipulation tasks are detailed in simulation. The efficiency of this method is also demonstrated with two examples : a rotation and a translation of an object inside the hand.