Lim, MS Oh, SR Son, J You, BJ Kim, KB 2024-01-21T14:15:33Z 2024-01-21T14:15:33Z 2021-09-05 2000-02-29 0921-8890 https://pubs.kist.re.kr/handle/201004/141567 This paper addresses a real-time grasp synthesis of multi-fingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by a multi-fingered robot hand. For an optimum grasp and real-time computation, We develop the preference and the hibernation process and assign the physical constraints of a humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics of human grasping. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables grasp posture to be changeable within 2-finger and 3-finger grasp. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our developed robot hand system by solving 2- or 3-finger grasp synthesis. (C) 2000 Published by Elsevier Science B.V. All rights reserved. English ELSEVIER SCIENCE BV FORCE-CLOSURE GRASPS OBJECTS A human-like real-time grasp synthesis method for humanoid robot hands Article 10.1016/S0921-8890(99)00091-3 1 ROBOTICS AND AUTONOMOUS SYSTEMS, v.30, no.3, pp.261 - 271 ROBOTICS AND AUTONOMOUS SYSTEMS 30 3 261 271 scie scopus 000085036500006 2-s2.0-0033879108 Automation & Control Systems Computer Science, Artificial Intelligence Robotics Automation & Control Systems Computer Science Robotics Article FORCE-CLOSURE GRASPS OBJECTS human-like grasp real-time grasp synthesis humanoid robot hand