Spacecraft equipped with gecko-inspired dry adhesive grippers can dynamically grasp objects having a wide variety of featureless surfaces. In this paper we propose an optimization-based control strategy to exploit the dynamic robustness of such grippers for the task of grasping a free-floating, spinning object. First, we extend previous work characterizing the dynamic grasping capabilities of t...

It is still unclear whether infants become right-handed because of their left-hemisphere specialization for language (through gestural communication for instance), whether they speak predominantly with their left hemisphere because of this hemisphere's superiority in controlling sequential actions which first results in right-handedness, or whether the two lateralization processes develop indep...

This paper describes the development of a database of grasping requirements for existing crew aids, tools (CATs) and interfaces used during extravehicular activity (EVA). This database identifies the basic grasping requirements of 242 CATs and interfaces found in the EVA Tools and Equipment Reference Book. The results of this study show that over 50% of these grasps are cylindrical, and that it...

In this work, we consider the grasping and manipulation strategies of raptors, focusing on the particularly successful case of the osprey. The osprey makes superb use of its two four-digit feet, each of which has ve degrees of freedom. Its manipulation strategies exploit not only quasistatic but also dynamic grasping, particularly in shing, for which the bird is highly renowned. In this paper, ...

Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and cont...

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In our approach, the uncertainty in object shape is parameterized and incorporated as a constraint into grasp planning. The proposed approach is u...

The Lucs Haptic Hand III has been built as a step in a project at LUCS aiming at studying haptic perception. In this project, several robot hands together with cognitive computational models of the corresponding human neurophysiologic systems will be built. Grasping tests with the LUCS Haptic Hand III were done with six different objects in order to get a comprehension of the signal patterns fr...

The planning/control model of action assumes that grasping is sensitive to the context of an object only in early stages of the movement (planning), but not in later stages (control). In consequence, the effects of context-induced illusions (such as the Ebbinghaus/Titchener illusion) should decrease during a grasping movement. Here, we tested this claim by reanalysing a large data set (N = 26) ...

In this paper a method is proposed for shape recognition and grasping of unknown objects using a robotic hand with two soft fingers and one omnidirectional camera. For shape recognition, we propose to use a simple 2D version of the visual volume intersection method to obtain the visual hull of the object in a horizontal plane from multiple images taken from different positions around the object...