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Main Title: Exploitation of environmental constraints in human and robotic grasping
Author(s): Eppner, Clemens
Deimel, Raphael
Álvarez-Ruiz, José
Maertens, Marianne
Brock, Oliver
Type: Article
Language Code: en
Abstract: 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.
Issue Date: 2015
Date Available: 23-Oct-2017
DDC Class: 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): Grasping
robotic hands
human grasping
soft hands
environmental constraints
constraint exploiting grasp strategy
Journal Title: International journal of robotics research
Publisher: Sage Publications
Publisher Place: London [u.a.]
Volume: 34
Issue: 7
Publisher DOI: 10.1177/0278364914559753
Page Start: 1021
Page End: 1038
EISSN: 1741-3176
ISSN: 0278-3649
Notes: 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.
Appears in Collections:FG Modellierung kognitiver Prozesse » Publications
FG Robotics » Publications

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