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This paper is about grasping known objects of arbitrary shape with a humanoid robot. We extend our previous work, where we presented a grasp planning method using an object representation based on the medial axis transform (MAT). The MAT describes an object's topological skeleton and contains information about local symmetry properties and thickness valuable for grasp planning. So far, our previous...
Many supporting activities that future service robots might perform in people's homes depend on the capability to grasp and manipulate arbitrary objects. Easily accomplished by humans, but very difficult to achieve for robots, grasping involves dealing with a high-dimensional space of parameters which include hand kinematics, object geometry, material properties and forces. We believe that the way...
Typical tasks of future service robots involve grasping and manipulating a large variety of objects differing in size and shape. Generating stable grasps on 3D objects is considered to be a hard problem, since many parameters such as hand kinematics, object geometry, material properties and forces have to be taken into account. This results in a high-dimensional space of possible grasps that cannot...
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