In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications, and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in...

Robotic manipulation in unstructured environments must handle a wide range of objects despite errors in visual perception. Tactile sensing is presumed to provide essential information in this context, but there has been little work examining the tactile sensor signals produced during realistic manipulation tasks. This paper presents tactile sensor data from grasping a generic object in hundreds...

Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on...

We advocate the central importance of compliance for grasp performance and demonstrate that grasp algorithms can achieve robust performance by explicitly considering and exploiting mechanical compliance of the grasping hand. Specifically, we consider the problem of robust grasping in the absence of a priori object models, focusing on object capture and grasp stability under variations of object...

Grasping relies on a network of parieto-frontal areas lying on the dorsolateral and dorsomedial parts of the hemispheres. However, the initiation and sequencing of voluntary actions also requires the contribution of mesial premotor regions, particularly the pre-supplementary motor area F6. We recorded 233 F6 neurons from 2 monkeys with chronic linear multishank neural probes during reaching-gra...

Abshurct-Th-ihger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a 6nger contact space to the object surface. Conditions are developed to identity the feasible grasping region, F, in the m e r contact space. A “grasping energy hction,” E, is introduced that which is proportional to the distance between two gras...

In this work, a concept for the execution and kinematic analysis of motion studies is introduced and realized, adding innovative computer-aided methods to the so far existing procedures. Firstly, a classification assistant for grouping kinematic motion data is developed and evaluated, which is alternatively based on Adaptive Resonance Theory or Self-Organizing Feature Maps. It can be demonstrat...

Knowledge bases for semantic scene understanding and processing form indispensable components of holistic intelligent computer vision and robotic systems. Specifically, task based grasping requires the use of perception modules that are tied with knowledge representation systems in order to provide optimal solutions. However, most state-of-the-art systems for robotic grasping, such as the KCoPM...

This review aims to provide a comprehensive outlook on the sensory (visual and haptic) contributions to reaching and grasping. The focus is on studies in developing children, normal, and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually guided grasping and a left-hand/right-hemisphere specializati...

In this work we show how precomputed reachability information can be used to e ciently solve complex inverse kinematics (IK) problems such as bimanual grasping or re-grasping for humanoid robots. We present an integrated approach which generates collision-free IK solutions in cluttered environments while handling multiple potential grasping con gurations for an object. Therefore, the spatial re...