Graspability map: A tool for evaluating grasp capabilities

This paper presents the graspability map, a novel approach to represent for a particular object the positions and orientations that a given mechanical hand can adopt to achieve a force closure precision grasp. The algorithm is based on the intersection between the fingertip workspaces and the object, plus the verification of a necessary condition for force closure grasps. The maps are computed offline and can be used for comparing the grasp capabilities of different mechanical hands with respect to some benchmark objects. The maps have also potential applications in online grasp and manipulation planning.

Authors

• Máximo A. Roa
• Katharina Hertkorn
• Franziska Zacharias
• Christoph Borst 0001
• Gerhard Hirzinger

Keywords

• Force
• Friction
• Planning
• Databases
• Robots
• Kinematics
• Three dimensional displays
• Verification Of Conditions
• Friction Coefficient
• Convex Hull
• Arm Movements
• Object Surface
• Hand Position
• Cup Of Coffee
• Collision Detection
• Six-dimensional
• Parallelepiped
• Robotic Hand
• Number Of Poses
• Rapidly-exploring Random Tree