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Exploitation of environmental constraints in human and robotic grasping
Eppner, Clemens; Deimel, Raphael; Álvarez-Ruiz, José; Maertens, Marianne; Brock, Oliver
We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.
Published in: International journal of robotics research, 10.1177/0278364914559753, Sage Publications
- Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
- This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.
