ROBOTIC GRASP AND MANIPULATION PLANNING: GEOMETRY AND ALGORITHMS

Jean Ponce
Dept. of Computer Science
University of Illinois

Abstract: This talk addresses the problem of grasping and manipulating
objects with simple robotic mechanisms, including a novel
reconfigurable gripper, modular fixturing elements, and mobile
platforms. A detailed analysis of the problem geometry in
configuration space is used to devise simple and efficient algorithms
for grasp and manipulation planning. The results of preliminary
experiments will be presented.