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Towards Postural Synergies for Caging Grasps
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-1114-6040
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-2965-2953
2013 (engelsk)Inngår i: Hand Synergies - how to tame the complexity of grapsing: Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), 2013Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Postural synergies have in recent years been successfully used as a low-dimensional representation for the control of robotic hands and in particular for the synthesis of force-closed grasps. This work proposes to study caging grasps using synergies and reports on an initial analysis of postural synergies for such grasps. Caging grasps, which have originally only been analyzed for simple planar objects, have recently been shown to be useful for certain manipulation tasks and are now starting to be investigated also for complicated object geometries. In this workshop contribution, we investigate a synthetic data-set ofcaging grasps of four robotic hands on several every-day objects and report on an analysis of synergies for this data-set.

sted, utgiver, år, opplag, sider
2013.
Emneord [en]
synergies, caging, robotics, grasping
HSV kategori
Forskningsprogram
SRA - Informations- och kommunikationsteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-129499OAI: oai:DiVA.org:kth-129499DiVA, id: diva2:655709
Konferanse
Hand Synergies - how to tame the complexity of grapsing, Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013); Karlsruhe, Germany, May 6 - 10, 2013
Forskningsfinansiär
EU, FP7, Seventh Framework Programme, FP7-ERC-279933Swedish Foundation for Strategic Research
Merknad

NQC 2014

Tilgjengelig fra: 2013-10-13 Laget: 2013-09-30 Sist oppdatert: 2018-01-11bibliografisk kontrollert

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Pokorny, Florian T.Kragic, Danica

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Stork, Johannes A.Pokorny, Florian T.Kragic, Danica
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