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This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...

This paper presents a novel regrasp control policythat makes use of tactile sensing to plan local grasp adjustments.Our approach determines regrasp actions by virtually searchingfor local transformations of tactile measurements that improvethe quality of the grasp.First, we construct a tactile-based grasp quality metricusing a deep convolutional neural network trained on...

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...

Visual features act as an important part for hand pre-shaping during human grasp. This paper focuses on using visual features in an image to predict successful grasp types, which can be used in the robot grasp manipulation. The following questions are discussed: First, how to recognize different shapes in a given image. Second, how to train the system using image-grasp pairs. Third, evaluate th...

The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by \unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion...

OBJECTIVES Therapists generally describe a person's grasp in terms of normal prehension patterns that have been discussed in the literature. However, the grasp pattern used by a person with a hand impairment may not fit into these patterns. The purpose of this study was to describe, with qualitative classification systems, static grasp patterns used by hands impaired by scleroderma and to deter...

In the near future, more and more robots will be used for servicing tasks, tasks in hazardous environments or space applications. Dextrous hands are a powerful and flexible tool to interact with real world environments that are not specially tailored for robots. In order to grasp and manipulate real world objects, grasp planning systems are required. To be integrated in online planning systems ...

The human hand is the most complete tool, able to adapt to different surfaces and shapes and touch and grasp. It is a direct connection between the exterior world and the brain. I. Kant (German philosopher) defined how the hand is an extension of the brain. In this paper we present and develop a new algorithm for grasp any object in a virtual environment (VE). The objective is to present a nove...