A fast grasp synthesis method for online manipulation

This paper presents a new method for solving the grasp optimization problem by a multi-finger robotic hand; this method allows gripping an object using three articulated fingers, in order to manipulate it later. Because of the large number of operations and the high computation time, online grasp has not yet been reported. In this study, we propose a method that is able to provide an optimized initial grasp in a short time before online manipulation.

► We develop algorithms for grasping and manipulation with mechanical hands.
► The grasp optimization problem is solved using a genetic approach.
► A method for the computation of a fingertip force is detailed.
► Simulation and experimental results with a mechanical hand are given in the paper.