Usage of Simulations to Plan Stable Grasping of Unknown Objects with a 3-Fingered Schunk Hand

Abstract — In this paper, we present ongoing work for using simulations to optimize grasp control where objects are located by 2D images. We use a twostep approach: First, we generate a bounding volume of the object based on the 2D image. Using this bounding volume, we use classical kinematic simulations to find an optimal collision free approach to the 2D extremal curve of the object. Our optimality criteria are here to approach perpendicular to the 2D surface and to achieve a good 2D force closure. In the second step, we use dynamic grasp simulations to optimize the online control based on tactile information. We demonstrate the current status of our system using simulations of the 3-fingered Schunk dextrous hand SDH mounted on a Schunk light weight arm LWA3. We present our preliminary results of using simulations to grasp optimization. I