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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

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Stable matching between a hand structure and an object silhouette.

J D Boissonnat¹

¹Institut National d'Informatique et d'Automatique (INRIA), 78153 Le Chesnay Cédex, France.

IEEE Transactions on Pattern Analysis and Machine Intelligence

|April 14, 2012

Summary

This study introduces a versatile method for determining object grasping strategies using only silhouette data. The algorithm is fast, simple, and applicable to unknown object orientations for robotic prehension.

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Area of Science:

Robotics
Computer Vision
Computational Geometry

Background:

Robotic grasping requires determining feasible interaction points between a gripper and an object.
Existing methods often need detailed object models or prior knowledge of orientation, limiting their applicability.

Purpose of the Study:

To propose a general and versatile method for computing object grasp possibilities.
To enable automatic prehension even when object geometry or orientation is unknown.

Main Methods:

Object grasping possibilities are determined based on the object's silhouette.
The silhouette is segmented and parameterized to derive an explicit solution.
The method accommodates arbitrary object geometries and a wide range of grippers.

Main Results:

A fast and simple algorithm for grasp planning is developed.
The method requires only gripper parameters and object silhouette information.
It is particularly effective for automatic prehension tasks with unknown object states.

Conclusions:

The proposed silhouette-based method offers a general solution for robotic grasping.
Its efficiency and versatility make it suitable for real-world applications with uncertain object information.
This approach simplifies grasp planning for unknown objects and orientations.