GeoGraspEvo: grasping points for multifingered grippers

The task of grasping objects is a simple and routinely action for humans but it is complex for robots. To integrate robots into everyday tasks, they have to be equipped with capabilities human-like dexterity. In this line, we propose an analytic method, called GeoGraspEvo, to compute grasping points to be used by robotic hands with three, four or more fingers. Our proposal uses features computed from visible surface objects captured by a single RGBD image of a scene. Additionally, it uses as input some configurable kinematic parameters to be able to carry out the grasping depending on the hand morphology. The method compute grasping points with no training process.