Title:
Grasping Simulator on OpenHRP

Authors:
Kensuke Harada, Kenji Kaneko, and Tokuo Tsuji

This paper first discusses the overview of the simulation/control
inegrated environment OpenHRP developed in AIST. Then, we discuss the
application of OpenHRP to grasping simulator. We implimented the grasp
planner on OpenHRP as a module of the GrxUI . After planning the
grasping motion, we can confirm it by the physical simulation.