Spatio-temporal modeling of grasping actions

Romero, Javier; Feix, Thomas; Kragić, Danica

doi:10.1109/iros.2010.5650701

Cited by 39 publications

(29 citation statements)

References 19 publications

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“…An alternative representation of hand posture compatible with soft hand mechanics has been used for the Human Grasp Database 3 experiment. In this experiment, Romero et al (2010) represented hand posture in terms of fingertip position and orientation relative to the back of the hand.…”

Section: Choice Of Representationmentioning

confidence: 99%

A novel type of compliant and underactuated robotic hand for dexterous grasping

Deimel¹,

Brock²

2015

The International Journal of Robotics Research

913

494

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The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same time, due to the inherent compliance of soft materials, only very few of these mechanical degrees have to be controlled explicitly. Soft hands therefore may combine the best of both worlds. In this paper, we present RBO Hand 2, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand. The hand is inexpensive to manufacture and the morphology can easily be adapted to specific applications. To enable efficient hand design, we derive and evaluate computational models for the mechanical properties of the hand's basic building blocks, called PneuFlex actuators. The versatility of RBO Hand 2 is evaluated by implementing the comprehensive Feix taxonomy of human grasps. The manipulator's capabilities and limits are demonstrated using the Kapandji test and grasping experiments with a variety of objects of varying weight. Furthermore, we demonstrate that the effective dimensionality of grasp postures exceeds the dimensionality of the actuation signals, illustrating that complex grasping behavior can be achieved with relatively simple control.

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Section: Choice Of Representationmentioning

confidence: 99%

A novel type of compliant and underactuated robotic hand for dexterous grasping

Deimel¹,

Brock²

2015

The International Journal of Robotics Research

913

494

View full text Add to dashboard Cite

show abstract

“…The correlations are not obvious and cannot be modeled explicitly; therefore, data-driven approaches are commonly used to determine the coupling between them. Thus, only a few parameters suffice to define a hand posture [9] or hand movement [10]- [12]. The minimum number of parameters required to specify the posture of the hand is called the intrinsic dimension of the hand or the number of DoF of a hand.…”

Section: Related Workmentioning

confidence: 99%

“…We have previously shown that using the GP-LVM model, a 2-D space is sufficient to encode the variations in this data. To this end, we use a 2-D latent representation [12]. In addition this is beneficial as it provides simple means of generating intuitive visualizations.…”

Section: Low-dimensional Spacementioning

confidence: 99%

A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands

Feix

Romero

et al. 2013

IEEE Trans. Robot.

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Abstract-We propose a metric for comparing the anthropomorphic motion capability of robotic and prosthetic hands. The metric is based on the evaluation of how many different postures or configurations a hand can perform by studying the reachable set of fingertip poses. To define a benchmark for comparison, we first generate data with human subjects based on an extensive grasp taxonomy. We then develop a methodology for comparison using generative, nonlinear dimensionality reduction techniques. We assess the performance of different hands with respect to the human hand and with respect to each other. The method can be used to compare other types of kinematic structures.

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“…Similarly, one can consider the space of continuously varying hand configurations. A successful technique is to represent robot hand configurations as elements of a vector space and to employ principal component analysis to determine postural synergies [8,18]. These then define a low-dimensional representation which can be used to control a robotic hand.…”

Section: Background and Related Workmentioning

confidence: 99%

Grasp Moduli Spaces

Pokorny

Hang

Kragić

2013

Robotics: Science and Systems IX

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Abstract-We present a new approach for modelling grasping using an integrated space of grasps and shapes. In particular, we introduce an infinite dimensional space, the Grasp Moduli Space, which represents shapes and grasps in a continuous manner. We define a metric on this space allowing us to formalize 'nearby' grasp/shape configurations and we discuss continuous deformations of such configurations. We work in particular with surfaces with cylindrical coordinates and analyse the stability of a popular L 1 grasp quality measure Q l under continuous deformations of shapes and grasps. We experimentally determine bounds on the maximal change of Q l in a small neighbourhood around stable grasps with grasp quality above a threshold. In the case of surfaces of revolution, we determine stable grasps which correspond to grasps used by humans and develop an efficient algorithm for generating those grasps in the case of three contact points. We show that sufficiently stable grasps stay stable under small deformations. For larger deformations, we develop a gradient-based method that can transfer stable grasps between different surfaces. Additionally, we show in experiments that our gradient method can be used to find stable grasps on arbitrary surfaces with cylindrical coordinates by deforming such surfaces towards a corresponding 'canonical' surface of revolution.

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Spatio-temporal modeling of grasping actions

Cited by 39 publications

References 19 publications

A novel type of compliant and underactuated robotic hand for dexterous grasping

A novel type of compliant and underactuated robotic hand for dexterous grasping

A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands

Grasp Moduli Spaces

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