Pre-grasp Manipulation Planning to Secure Space for Power Grasping

Posture optimization for pre-grasp interaction planning

Many manipulation tasks involve grasping objects that are movable, not fixed, in the environment. An object’s potential for motion does contribute to the challenge of estimating its pose with sufficient certainty for robust grasping. However, object movability also offers an opportunity for pregrasp interaction strategies that adjust an object’s placement in order to improve grasping conditions...

Dextrous manipulation planning by grasp transformation

Unified Representation of Pre-Grasp Strategies for Object Manipulation

In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatical...

Pre-Grasp Interaction as a Manipulation Strategy for Movable Objects

Robotic systems have yet to match humans in skill for movement planning and tool manipulation. For example, humans can robustly grasp and manipulate objects even under task variation. However, successful grasping methods for robotic manipulators are often limited to structured environmental conditions. Our dual goals are to understand manipulation actions in humans and to add such skills to a r...

Shared Grasping: a Combination of Telepresence and Grasp Planning

Telepresence systems can be used for repair and maintenance in environments that are hard to access or dangerous for the human. Current systems can effectively the gross motor skills of the human operator into actions in the remote environment. In comparison, fine manipulation, like the secure grasping and handling of complex objects, is error-prone and strenuous for the operator. To execute su...