An overview of 3D object grasp synthesis algorithms

作者：Sahbani A^*; El Khoury S; Bidaud P

来源：Robotics and Autonomous Systems, 2012, 60(3): 326-336.

DOI：10.1016/j.robot.2011.07.016

• Grasp synthesis
• Force-closure
• Learning by demonstration
• Task modeling

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.

• 出版日期2012-3