A Fast Grasp Planning Algorithm for Humanoid Robot Hands

Grasp planning is crucial for robots to perform precision grasping tasks, where determining the grasp points significantly impacts the performance of the robotic hand. Currently, the majority of grasp planning methods based on analytic approaches solve the problem by transforming it into a nonlinear constrained planning problem. This method often requires performing convex hull computations, which tend to have high computational complexity. This paper proposes a new algorithm for calculating multi-finger force-closure grasps of three-dimensional objects based on humanoid multi-fingered hands. Firstly, sufficient conditions for the multi-finger force-closure grasps of three-dimensional objects are derived from a point contact model with friction. These three-dimensional force-closure conditions are then transformed into two-dimensional plane conditions, leading to a simple algorithm for multi-finger force-closure determination. This method is purely based on geometric analysis, resulting in low computational demands and enabling the rapid assessment of force-closure grasps, which are beneficial for real-time applications. Finally, the algorithm is validated through two case studies, demonstrating its feasibility and effectiveness.