A fast grasp synthesis method for online manipulation

Authors:
N. Daoud;J. P. Gazeau;S. Zeghloul;M. Arsicault
Affiliations:
-;-;-;-
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

This paper presents a new method for solving the grasp optimization problem by a multi-finger robotic hand; this method allows gripping an object using three articulated fingers, in order to manipulate it later. Because of the large number of operations and the high computation time, online grasp has not yet been reported. In this study, we propose a method that is able to provide an optimized initial grasp in a short time before online manipulation.