Full Content is available to subscribers

Subscribe/Learn More  >

Planning Manipulation and Grasping Tasks With a Redundant Arm

[+] Author Affiliations
Steven R. Gray, Joseph M. Romano, Jordan Brindza, Soonkyum Kim, Katherine J. Kuchenbecker, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2011-47453, pp. 1111-1119; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper presents an approach to analysis and planning for autonomous manipulation tasks using a commercially available robotic arm and hand. We discuss hardware implementation, software architecture, and state machine behaviors. The inverse kinematics of the seven-degree-of-freedom manipulator are analytically derived with special attention to deterministically resolving the redundancy at the position level. Appropriate grasps are generated given the perceived position and orientation of the target object. Planning for the arm is accomplished in joint space using an RRT* implementation. Our implementation is able to detect an arbitrarily placed object in the workspace, generate a plan for the arm and hand avoiding obstacles, and execute the planned manipulation task. To show the efficacy of our approach, we present experiments in which the system autonomously grasps a canteen and a flashlight.

Copyright © 2011 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In