This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general twoand threedimensional grasps and fixtures represented by any quasirigid compliance model, employs a quality measure that characterizes the grasped or fixtured object’s worst-case deflection caused by distu...

Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be physically implemented in an underactuated fashion. Given a kinematic hand model and a set of desired grasps, our algorithm optimizes a Mechanically Realizab...

It is easy to generate a series of possible grasps through a state-of-the-art automatic grasp planner, but it is hard to figure out which grasp is better by the robot itself. A learning-based approach is presented in this paper to solve this problem. In order to develop an algorithm that predicts the quality of a robotic grasp before execution, a large grasp sample data set is collected, includ...

Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors to gain information about the object (e.g. vision, tactile, etc.) to building passively compliant hands that react appropriately to contact. In this paper, we focus on grasping unknown objects using proprioception (the combination of joint position and torque sensing). Our hypothe...

more than anything else, education is rooted in the interaction between students and teachers. interaction is a more comprehensive concept than mutual influence which also exists among objects; the former is only possible when a relation among two agents is at stake. in this relation other components exist as well, such as books and educational tools, however, all these components are like sate...