Abstract
There are existing techniques to calculate online grasp planning. However, those methods do not consider the effects of gravity. Therefore, because of the unexpected load, there can be stable grips that cannot be performed. In this paper, we consider the distance between the center of gravity of the object as well as the average coordinates of the contact point in the index of the conventional method. As a result, we propose a method for grasping that is more stable. In addition, using OpenRAVE, to compare the proposed method with the conventional method. The results indicate that the average position of grasp when using the proposed method is closer to the center of gravity. In particular, if the object to be grasped is long or has a low priority gripping position close to its center of gravity, the results are remarkably improved.
