Unknown Object Grasping Strategy Imitating Human Grasping Reflex for Anthropomorphic Robot Hand

Unknown Object Grasping Strategy Imitating Human Grasping Reflex for Anthropomorphic Robot Hand

This paper presents a strategy meant to allow anthropomorphic robot hands to grasp objects of unknown shape in imitation of the human grasping reflex. A 10-month-old baby may bend his/her thumb and four fingers in an attempt to grasp an object when it comes in contact with the palm. After grasping it, if the object is attempted to be removed from the baby’s hand, the baby holds the object more ...

Grasping of Unknown Object Imitating Human Grasping Reflex

This paper presents a grasping strategy of unknown objects imitating human grasping reflex for anthropomorphic robot hands. In the proposed grasping, each joint of the thumb and the fingers is controlled independently using the contact force affecting its adjacent fingertip side link. By setting a suitable contact force, both fingertip grasping and enveloped grasping with uniform grasping force...

Capturing Human Hand Kinematics for Object Grasping and Manipulation

Grasping Unknown Objects with a Humanoid Robot

This paper combines the authors’ previous work on a self-calibrated, position based visual servoing framework for a humanoid robot, with a robust laser stripe scanner that can capture registered colour/range measurements of arbitrary objects in ambient indoor light. Using stereo measurements for validation, the laser scanner is robust against sensor noise, spurious reflections and cross talk fr...

An Anthropomorphic Grasping Approach for an Assistant Humanoid Robot

In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasping objects that appear in a kitchen environment. Our approach is based on the use of an object model database that contains the description of all the objects that can appear in the robot workspace. This database is comple...