Fine manipulation with multifinger hands

Hong, Jin‐Woo; Lafferriere, Gerardo; Mishra, Bhubaneswar; Tan, X.

doi:10.1109/robot.1990.126232

Cited by 94 publications

(55 citation statements)

References 7 publications

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“…We define a grasping energyfinction, that is proportional to the square of distance between the two finger contacts. This function is identical, modulo a constant, to the distance function of [8]. We show that critical points of this energy function which lie in the force-closure region in the contact configuration space [5], [7] correspond to pairs of antipodal points on the object surface.…”

Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 83%

“…We show that critical points of this energy function which lie in the force-closure region in the contact configuration space [5], [7] correspond to pairs of antipodal points on the object surface. For the case of convex bodies considered in [8], the critical points always lie in the force closure regions. However, for the case of nonconvex bodies studied here, the critical points of this function need not be antipodal points.…”

Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 99%

“…Hong et al [8] first introduced the concept of antipodal point grasps on a smooth object. Their work was motivated by a heuristic approach to planning "finger gaits" in which fingers are placed on or in the neighborhood of antipodal points during the finger repositioning phases of a finger gait.…”

Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 99%

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Finding antipodal point grasps on irregularly shaped objects

Chen

Burdick

1993

IEEE Trans. Robot. Automat.

124

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Abshurct-Th-ihger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a 6nger contact space to the object surface. Conditions are developed to identity the feasible grasping region, F, in the m e r contact space. A "grasping energy hction," E, is introduced that which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E in F. Optimization and/or continuation techniques are used to 6nd these critical points. In particular, global optimization techniques are applied to 6nd the "maximal" or "minhal" grasp. Further, modeling techniques are introdud for representing 2-D and 3-D objects using B-spline curves and spherical product surfaces.

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Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 83%

Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 99%

Section: ) Antipodal Point Grasps Guarantee Force-closure (Fc) [14]mentioning

confidence: 99%

See 1 more Smart Citation

Finding antipodal point grasps on irregularly shaped objects

Chen

Burdick

1993

IEEE Trans. Robot. Automat.

124

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“…These strategies adjust hand poses and contact positions in concert to achieve more robust manipulation. Common strategies such as controlled sliding and rolling contact [Tournassoud et al 1987;Cai and Roth 1987;Cole et al 1992;Cherif and Gupta 1999], or finger gait [Hong et al 1990;Han and Trinkle 1998;Xu et al 2007] can largely improve the capability of robotic manipulators. In addition to synthesis, robotics researchers can also transfer manipulation to different situations by analyzing the quality of contact locations [Pollard and Hodgins 2002;Pollard and Wolf 2004] and the relative motion between the object and the wrist [Ciocarlie and Allen 2008;Hamer et al 2011].…”

Section: Related Workmentioning

confidence: 99%

Synthesis of detailed hand manipulations using contact sampling

Liu

2012

ACM Trans. Graph.

114

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Capturing human activities that involve both gross full-body motion and detailed hand manipulation of objects is challenging for standard motion capture systems. We introduce a new method for creating natural scenes with such human activities. The input to our method includes motions of the full-body and the objects acquired simultaneously by a standard motion capture system. Our method then automatically synthesizes detailed and physically plausible hand manipulation that can seamlessly integrate with the input motions. Instead of producing one "optimal" solution, our method presents a set of motions that exploit a wide variety of manipulation strategies. We propose a randomized sampling algorithm to search for as many as possible visually diverse solutions within the computational time budget. Our results highlight complex strategies human hands employ effortlessly and unconsciously, such as static, sliding, rolling, as well as finger gaits with discrete relocation of contact points.

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“…Hong et al [5] proved the existence of two pairs of antipodal points on a closed, simple, and smooth convex curve or surface. Chen and Burdick [3] computed antipodal points on 2D and 3D shapes through minimizing a grasping energy function.…”

Section: Related Workmentioning

confidence: 99%

Curvature-based computation of antipodal grasps

Jia

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

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It is well known that antipodal grasps can be achieved on curved objects in the presence of friction. This paper presents an efficient algorithm that finds, up to numerical resolution, all pairs of antipodal points on a closed, simple, and twice continuously differentiable plane curve. Dissecting the curve into segments everywhere convex or everywhere concave, the algorithm marches simultaneously on a pair of such segments with provable convergence and interleaves marching with numerical bisection. It makes use of new insights into the differential geometry at two antipodal points. We have avoided resorting to traditional nonlinear programming which would neither be quite as efficient nor guarantee to find all antipodal points. Dissection and the coupling of marching with bisection introduced in this paper are potentially applicable to many optimization problems involving curves and curved shapes.

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Fine manipulation with multifinger hands

Cited by 94 publications

References 7 publications

Finding antipodal point grasps on irregularly shaped objects

Finding antipodal point grasps on irregularly shaped objects

Synthesis of detailed hand manipulations using contact sampling

Curvature-based computation of antipodal grasps

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