Automatic grasping and regrasping by space characterization forpick-and-place operations

摘要

This paper describes a method of planning grasps for paralleltwo-fingered grippers in order to pick up user-specified objects andplace them at user-specified configurations. By characterizing localspace around gripping positions, the method can plan grasps where thehand can move as freely as possible and then easily plan a path. It canplan regrasping where the grasps themselves and the regraspingplacements are computed flexibly according to the environment. It canplan minimal sequences of regraspings for objects that have rotationalsymmetries