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Towards Postural Synergies for Caging Grasps
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-1114-6040
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2013 (English)In: Hand Synergies - how to tame the complexity of grapsing: Workshop, IEEE International Conference on Robotics and Automation (ICRA 2013), 2013Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2013.
Keyword [en]
synergies, caging, robotics, grasping
National Category
Computer Science Robotics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-129499OAI: oai:DiVA.org:kth-129499DiVA: diva2:655709
Conference
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
Funder
EU, FP7, Seventh Framework Programme, FP7-ERC-279933Swedish Foundation for Strategic Research
Note

NQC 2014

Available from: 2013-10-13 Created: 2013-09-30 Last updated: 2014-05-28Bibliographically approved

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Pokorny, Florian T.Kragic, Danica

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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