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Grasp Database Generator for Anthropomorphic Robotic Hands

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Robotics and Mechatronics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 37))

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Abstract

Grasp databases can be useful for data-driven grasp synthesis algorithm or benchmarking grasp quality metrics. This paper presents an algorithm to produce a grasp database for anthropomorphic robotic hands. The method can generate different types of grasps from the human grasp taxonomy, it relies on the notion of hand preshapes. For each type of grasp there is a hand preshape defined, containing information on how the hand should approach the object and close its fingers. The proposed approach is validated on the anthropomorphic RoBioSS hand.

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Acknowledgements

This work has been sponsored by the French government research program Investissements d’Avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).

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Authors and Affiliations

  1. Department GMSC, Pprime Institute CNRS - University of Poitiers - ENSMA, UPR 3346, Poitiers, France

    H. Mnyusiwalla & P. Vulliez

  2. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    J. P. Gazeau & S. Zeghloul

Authors
  1. H. Mnyusiwalla
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  2. P. Vulliez
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  3. J. P. Gazeau
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  4. S. Zeghloul
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Corresponding author

Correspondence to H. Mnyusiwalla .

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Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Med Amine Laribi

  3. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Jean-Pierre Gazeau

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© 2016 Springer International Publishing Switzerland

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Mnyusiwalla, H., Vulliez, P., Gazeau, J.P., Zeghloul, S. (2016). Grasp Database Generator for Anthropomorphic Robotic Hands. In: Zeghloul, S., Laribi, M., Gazeau, JP. (eds) Robotics and Mechatronics. Mechanisms and Machine Science, vol 37. Springer, Cham. https://doi.org/10.1007/978-3-319-22368-1_29

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  • DOI: https://doi.org/10.1007/978-3-319-22368-1_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22367-4

  • Online ISBN: 978-3-319-22368-1

  • eBook Packages: EngineeringEngineering (R0)

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