An Overview of 3D Object Grasp Synthesis Algorithms

Anis Sahbani (1) , Sahar El-Khoury (2) , Philippe Bidaud (1, 3)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 EPFL - Ecole Polytechnique Fédérale de Lausanne
3 SYROCO - Systèmes robotiques Conception et Commande

This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis algorithms. Existing papers focus on reviewing the mechanics of grasping and the finger-object contact interactions Bicchi and Kumar (2000) [12] or robot hand design and their control Al-Gallaf et al. (1993) [70]. Robot grasp synthesis algorithms have been reviewed in Shimoga (1996) [71], but since then an important progress has been made toward applying learning techniques to the grasping problem. This overview focuses on analytical as well as empirical grasp synthesis approaches.

Mots clés: Grasp synthesis; Force-closure; Learning by demonstration; Task modeling

Domaines: Robotique [cs.RO]

Anis Sahbani, Sahar El-Khoury, Philippe Bidaud. An Overview of 3D Object Grasp Synthesis Algorithms. Robotics and Autonomous Systems, 2012, 60 (3), pp.326--336. ⟨hal-00731127⟩