On the Computation of a Common n-finger Robotic Grasp for a Set of Objects
Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and
classification algorithm for intersecting all possible grasps over all
parts and finding a single common grasp suitable for all objects.
We present simulations of planar and spatial objects to validate the
feasibility of the approach.
<p>[1] J. Ponce and B. Faverjon, “On computing three-finger force-closure
grasps of polygonal objects,” IEEE Transactions on Robotics and
Automation, vol. 11, no. 6, pp. 868 –881, dec 1995.
[2] M. Roa and R. Suarez, “Geometrical approach for grasp
synthesis on discretized 3d objects,” in Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and
Systems. IEEE, Oct. 2007, pp. 3283–3288. (Online). Available:
http://dx.doi.org/10.1109/IROS.2007.4399440
[3] R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to
Robotic Manipulation, 2nd ed. CRC Press, Oct. 2012. (Online). Available:
http://www.amazon.com/exec/obidos/redirect?tag=citeulike07-
20&path=ASIN/0849379814
[4] N. Niparnan and A. Sudsang, “Computing all force-closure grasps of
2d objects from contact point set.” in Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2006, pp.
1599–1604.
[5] Y. H. Liu, “Computing n-Finger Form-Closure grasps on
polygonal objects,” The International Journal of Robotics Research,
vol. 19, no. 2, pp. 149–158, Feb. 2000. (Online). Available:
http://dx.doi.org/10.1177/02783640022066798
[6] I.-M. Chen and J. Burdick, “A qualitative test for n-finger force-closure
grasps on planar objects with applications to manipulation and finger
gaits,” in Robotics and Automation, 1993. Proceedings., 1993 IEEE
International Conference on, 1993, pp. 814–820 vol.2.
[7] C. Ferrari and J. Canny, “Planning optimal grasps,” in
Proceedings of the IEEE International Conference on Robotics
and Automation, May 1992, pp. 2290–2295. (Online). Available:
http://dx.doi.org/10.1109/ROBOT.1992.219918
[8] Z. Li and S. Sastry, “Task oriented optimal grasping by multifingered
robot hands,” in Proceedings of the IEEE International Conference on
Robotics and Automation, vol. 4, Mar. 1987, pp. 389–394. (Online).
Available: http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=1087852
[9] A. Sintov, S. Raghothama, R. Menassa, and A. Shapiro, “A common 3-
finger grasp search algorithm for a set of planar objects,” in Proceeding
of the IEEE International Conference on Automation Science and
Engineering (CASE), 2012, pp. 1091–1096.
[10] A. Rodriguez and M. T. Mason, “Grasp invariance,” Int. Journal of
Robotic Research, vol. 31, no. 2, pp. 236–248, 2012.
[11] R. Ohbuchi, T. Otagiri, M. Ibato, and T. Takei, “Shape-similarity
search of three-dimensional models using parameterized statistics,”
in Proceedings of the 10th Pacific Conference on Computer
Graphics and Applications, 2002, pp. 265–274. (Online). Available:
http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=1167870
[12] R. Osada, T. Funkhouser, B. Chazelle, and D. Dobkin, “Shape distributions,”
ACM Transactions on Graphics, vol. 21, no. 4, pp. 807–832, Oct.
2002. (Online). Available: http://portal.acm.org/citation.cfm?id=571648
[13] Y. Li and N. S. Pollard, “A shape matching algorithm for synthesizing
humanlike enveloping grasps,” in Proceedings of the 5th IEEE-RAS
International Conference on Humanoid Robots, 2005, pp. 442–449.
(Online). Available: http://dx.doi.org/10.1109/ICHR.2005.1573607
[14] B. Mishra, J. T. Schwartz, and M. Sharir, “On the
existence and synthesis of multifinger positive grips,” Algorithmica,
vol. 2, pp. 541–558, 1987. (Online). Available:
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.38.7726
[15] C. Borst, M. Fischer, and G. Hirzinger, “A fast and robust grasp planner
for arbitrary 3d objects,” in Proceedings of the IEEE International
Conference on Robotics and Automation, vol. 3, 1999, pp. 1890 –1896
vol.3.
[16] A. W. Moore, “Efficient memory-based learning for robot control,”
Ph.D. dissertation, Cambridge, UK, 1990. (Online). Available:
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.17.2654</p>
<p>[1] J. Ponce and B. Faverjon, “On computing three-finger force-closure
grasps of polygonal objects,” IEEE Transactions on Robotics and
Automation, vol. 11, no. 6, pp. 868 –881, dec 1995.
[2] M. Roa and R. Suarez, “Geometrical approach for grasp
synthesis on discretized 3d objects,” in Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and
Systems. IEEE, Oct. 2007, pp. 3283–3288. (Online). Available:
http://dx.doi.org/10.1109/IROS.2007.4399440
[3] R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to
Robotic Manipulation, 2nd ed. CRC Press, Oct. 2012. (Online). Available:
http://www.amazon.com/exec/obidos/redirect?tag=citeulike07-
20&path=ASIN/0849379814
[4] N. Niparnan and A. Sudsang, “Computing all force-closure grasps of
2d objects from contact point set.” in Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2006, pp.
1599–1604.
[5] Y. H. Liu, “Computing n-Finger Form-Closure grasps on
polygonal objects,” The International Journal of Robotics Research,
vol. 19, no. 2, pp. 149–158, Feb. 2000. (Online). Available:
http://dx.doi.org/10.1177/02783640022066798
[6] I.-M. Chen and J. Burdick, “A qualitative test for n-finger force-closure
grasps on planar objects with applications to manipulation and finger
gaits,” in Robotics and Automation, 1993. Proceedings., 1993 IEEE
International Conference on, 1993, pp. 814–820 vol.2.
[7] C. Ferrari and J. Canny, “Planning optimal grasps,” in
Proceedings of the IEEE International Conference on Robotics
and Automation, May 1992, pp. 2290–2295. (Online). Available:
http://dx.doi.org/10.1109/ROBOT.1992.219918
[8] Z. Li and S. Sastry, “Task oriented optimal grasping by multifingered
robot hands,” in Proceedings of the IEEE International Conference on
Robotics and Automation, vol. 4, Mar. 1987, pp. 389–394. (Online).
Available: http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=1087852
[9] A. Sintov, S. Raghothama, R. Menassa, and A. Shapiro, “A common 3-
finger grasp search algorithm for a set of planar objects,” in Proceeding
of the IEEE International Conference on Automation Science and
Engineering (CASE), 2012, pp. 1091–1096.
[10] A. Rodriguez and M. T. Mason, “Grasp invariance,” Int. Journal of
Robotic Research, vol. 31, no. 2, pp. 236–248, 2012.
[11] R. Ohbuchi, T. Otagiri, M. Ibato, and T. Takei, “Shape-similarity
search of three-dimensional models using parameterized statistics,”
in Proceedings of the 10th Pacific Conference on Computer
Graphics and Applications, 2002, pp. 265–274. (Online). Available:
http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=1167870
[12] R. Osada, T. Funkhouser, B. Chazelle, and D. Dobkin, “Shape distributions,”
ACM Transactions on Graphics, vol. 21, no. 4, pp. 807–832, Oct.
2002. (Online). Available: http://portal.acm.org/citation.cfm?id=571648
[13] Y. Li and N. S. Pollard, “A shape matching algorithm for synthesizing
humanlike enveloping grasps,” in Proceedings of the 5th IEEE-RAS
International Conference on Humanoid Robots, 2005, pp. 442–449.
(Online). Available: http://dx.doi.org/10.1109/ICHR.2005.1573607
[14] B. Mishra, J. T. Schwartz, and M. Sharir, “On the
existence and synthesis of multifinger positive grips,” Algorithmica,
vol. 2, pp. 541–558, 1987. (Online). Available:
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.38.7726
[15] C. Borst, M. Fischer, and G. Hirzinger, “A fast and robust grasp planner
for arbitrary 3d objects,” in Proceedings of the IEEE International
Conference on Robotics and Automation, vol. 3, 1999, pp. 1890 –1896
vol.3.
[16] A. W. Moore, “Efficient memory-based learning for robot control,”
Ph.D. dissertation, Cambridge, UK, 1990. (Online). Available:
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.17.2654</p>
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:65400", author = "Avishai Sintov and Roland Menassa and Amir Shapiro", title = "On the Computation of a Common n-finger Robotic Grasp for a Set of Objects", abstract = "Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and
classification algorithm for intersecting all possible grasps over all
parts and finding a single common grasp suitable for all objects.
We present simulations of planar and spatial objects to validate the
feasibility of the approach.
", keywords = "Common Grasping, Search Algorithm, Robotic End-Effector.", volume = "7", number = "11", pages = "2186-7", }
