Hierarchical Fingertip Space for Synthesizing Adaptable Fingertip Grasps
Conference poster, 2014

The ability to synthesize and execute fingertip grasps are bases for dexterous in-hand manipulation. Reliable fingertip grasping is difficult to achieve due to noise and uncertainties in object and hand model, as well as hand control etc. Moreover, in many cases it is desirable to employ an adaptive approach that can deal with changed external forces. In this paper, we propose an approach to jointly optimize stability, adaptability, and reachability of grasps using combinatorial optimization for a hierarchical representation of the fingertip space. To illustrate our approach, we demonstrate an example synthesized by the proposed framework and executed by an Allegro hand. We also show how it is adapted when a perturbation is applied.

grasping and manipulation, force and tactile sensing, grasp adaptation

Author

Kaiyu Hang

Royal Institute of Technology (KTH)

Miao Li

Swiss Federal Institute of Technology in Lausanne (EPFL)

Johannes Stork

Royal Institute of Technology (KTH)

Yasemin Bekiroglu

Chalmers, Signals and Systems, Systems and control, Automatic Control

Aude Billard

Swiss Federal Institute of Technology in Lausanne (EPFL)

Danica Kragic

Royal Institute of Technology (KTH)

CRA 2014 Workshop: Autonomous Grasping and Manipulation: An Open Challenge
Hong Kong, ,

Subject Categories

Robotics

Computer Science

Computer Vision and Robotics (Autonomous Systems)

More information

Latest update

9/29/2020