A Randomized Approach in Identifying High Quality Force Closure Grasp from Contact Points in Real Time

Abstract:

We proposed a randomized algorithm that can effectively identify a large number of high quality force closure grasps in short time. This task is very important when we consider grasping in real time where a large number of force closure grasps are needed as a candidate for planning in higher level. The key idea of our method is that a concurrent grasp is usually a high quality grasp and a concurrent grasp can be quickly identified by providing heuristic in choosing a concurrent point. A comparison of our method with other methods was performed and the result indicates that our method outperforms other methods.

• Periodical: Applied Mechanics and Materials (Volume 781)
• Pages: 483-486
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.781.483
• Online since: August 2015
• Authors: Watcharapol Watcharawisetkul, Mana Borwornpadungkitti, Nattee Niparnan*, Attawith Sudsang
• Keywords: Grasp Quality, Grasping, Robotics

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