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Online Generation of Reachable Grasps for Dexterous Manipulation Using a Representation of the Reachable Workspace

Zacharias, Franziska and Borst, Christoph and Hirzinger, Gerd (2009) Online Generation of Reachable Grasps for Dexterous Manipulation Using a Representation of the Reachable Workspace. International Conference on Advanced Robotics, Munich, Germany.

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Abstract

In service robotic tasks, the ability to grasp and handle objects is mandatory. Short response times with respect to execution of commanded tasks are necessary. Planning in general and grasp planning in particular should happen online. We extend the online grasp planner by Borst et al. [1] to generate reachable grasps while preserving the integrity and modularity of the grasp planner. To achieve this a representation of the reachable space of a robot arm is used to determine a grasp’s reachability. Furthermore we show the in uence of obstacles on the reachability throughout the workspace. A method to include obstacles into the representation of reachability is sketched. The resulting representation is used by the grasp planner. The performance of the algorithms is evaluated by measuring their computation times. Even in the worst case our grasp planner outperforms comparable state of the art approaches.

Document Type:Conference or Workshop Item (Paper)
Title:Online Generation of Reachable Grasps for Dexterous Manipulation Using a Representation of the Reachable Workspace
Authors:
AuthorsInstitution or Email of Authors
Zacharias, FranziskaFranziska.zacharias@dlr.de
Borst, ChristophChristoph.borst@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:2009
Status:Published
Keywords:grasp planning, reachable workspace, dexterous manipulation
Event Title:International Conference on Advanced Robotics
Event Location:Munich, Germany
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:no assignement
DLR - Program:W - no assignement
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Franziska Zacharias
Deposited On:18 Jan 2010 09:29
Last Modified:18 Jan 2010 09:29

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