Grasp motion planning for box opening task by multi-fingered hands and arms

The aim of our project is to develop a robot to manipulate an object in human environment. In this paper, as a first step, we focus on opening paper box such as tea box, and present a method to plan grasp motion by 2 arms with multi-fingered hands. we propose a task priority based scheme to plan grasping area consistent with whole steps of the given task procedure. Based on the grasping area and the concept of preshape, we derive desired fingertip positions and hand base position and orientation for preshape. Based on the vector field approach, we propose a motion planning method for the planned grasp by multi-fingered hands to avoid any undesired collisions. This method can be applied to regrasping and a motion in which collision is required.

I. Introduction

Recently, there is much attention on robots executing everyday manipulation in human environment such as opening box, opening package and folding clothes [1]. Multi-fingered hand manipulation is necessary to execute such kind of tasks. However, manipulation by multi-fingered hands and arms is very complicated task for robot. In order to complete a task, the robot has to create a procedure for the task, and to derive motion trajectories for each step to complete the procedure. Our project [2] proposed a method for creating the procedure. First, a data-base for procedures is made inside internet space so that the robot can search a procedure like human uses search-engine. The robot picks up an appropriate procedure or task for the situation, and creates a procedure for the task.