障害物環境下における多指ハンド・アームの把握計画

概要

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This paper provides a grasp planning for a multifingered hand-arm robot in the presence of obstacles. When the hand grasps an object, the arm and the hand must not collide with obstacles. It is difficult to generate a grasp configuration for a multifingered hand-arm robot even though geometric information about an object and obstacles are all known, since a multifingered hand-arm robot has many degrees of freedom of motion. We propose two methods for generating the grasp configuration and select the one method according to the environment around the object. One method is called the hand configuration method and gives priority to the hand configuration. Another method is called the arm configuration method and gives priority to the arm configuration. We separate the grasp planning into several subproblems. The feature of our grasp planning is to use heuristics in order to generate the grasp configuration rapidly. The effectiveness of our grasp planning is clarified by simulation results with 3D graphics.
1999-04-15