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Planning optimal grasps means that it should be possible to find some points or surface areas on the object where it is possible to apply some forces by using the fingers of a robotic hand to obtain stable grasps. A grasp is stable when the fingers resist external forces applied to the object. If the object is not known apriori, finding a firm grasp becomes more complicated. A method where the above-described object reconstruction process guides the multi-fingered robotic hand to grab the object in a (sub)optimal configuration is proposed. This method allows performing the object reconstruction process in parallel with the optimal grasp planner. In this way, the total time to complete a grasp is reduced with respect to the methods presented in the literature. Moreover, the movements of the fingers can be compared with the ones performed by the human hand.

Proposed solutions: