SYSTEM AND METHOD FOR COMPUTING GRASPS FOR A ROBOTIC HAND WITH A PALM

摘要

A system and method for automatically computing desirable palm grasp configurations of an object by a robotic hand is disclosed. A description of the object's surface is obtained. A grasp configuration of a robotic hand comprising a palm and one or more fingers is selected, which specifies a hand configuration and joint variables of the hand, and a plurality of contact points on the object's surface for the palm and fingers. The coefficient of friction at each of the contact points is determined, and a description of one or more external wrenches to which may apply to the object is acquired. The ability of the robotic hand to hold the object against the external wrenches in the selected configuration is then computed. In some embodiments, a plurality of grasp configurations may be compared to determine which are the most desirable. In other embodiments, the space of hand configurations, or the smaller space of palm contact configurations, may be searched to find the most desirable grasp configurations.