Abstract
This paper discusses the grasping technology for a multifingered hand attached at the tip of the life-support robot's arm. We first introduce the grasp planning method proposed by our research group. To apply our proposed method to the real environment, we prepare a set of grasping postures for a given grasped object. After the position/orientation of the object is taken by using the stereo vision system, we consider selecting one feasible posture based on the norm of the wrist joint angles obtained by solving the inverse kinematics. We confirm the effectiveness of the proposed method by experimental results where three kinds of objects are seemlessly grasped by using the multi-fingered hand HDH-1 attached at the tip of the humanoid robot HRP-3P's arm.
