The century of complexity has come.Many peoplewrite and speak about complexity. The statement of the great physicist Stephen Hawking, ‘‘I think the next century will be the century of complexity’’, in his ‘millennium’ interview on January 23, 2000 (San Jose Mercury News) became a widely cited prophecy. The face of science has changed (see cartoon in Fig. 1). Surprisingly, when we start asking a...

We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been establish...

The grasping control problem for a hyperredundant arm is studied. Frist, dynamic model of the arm is analyzed. The control problems are divided in the subproblems: the position control in a desired reaching area, the control of the arm around the object-load and the force control of grasping. The difficulties determined by the complexity of the non-linear integral-differential equations are avo...

Tissue grasping is a crucial component of surgical procedures that involves simultaneously satisfying two competing criteria – maintaining grasp stability while avoiding damage due to excessive grip force. Automation of grasp force control thus requires a controller to apply grasping forces just sufficient to maintain grasp stability. This task is complicated by the serially connected dynamics ...

This paper describes mechanical modeling of soft-fingered grasping and manipulation. Here, we used a simple hand consisting of a pair of 1-DOF rotational fingers with hemispherical soft fingertips to investigate the mechanics of soft-fingered grasping and manipulation. Based on the observations of soft-fingered grasping and manipulation, we propose a parallel distributed model with tangential d...

This survey reviews computational algorithms for generating 3D objects grasps with autonomous multi-fingered robotic hands. Over the past 20 years, grasping has been an increasingly active research area. Existing papers focus on reviewing the mechanics of grasping and the finger-object contacts interactions [21] or robot hand design and their control [4]. Robot grasp synthesis algorithms has be...

The Lucs Haptic Hand II 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 LUCS Haptic Hand II were done with two different objects in order to get a comprehension of the signal patterns from the...

We propose an experience-based approach to the problem of blind grasping, stable robotic grasping using tactile sensing and hand kinematic feedback. We first collect a set of stable grasps to build a tactile experience database which contains tactile contacts for each stable grasp. Using the tactile experience database, we propose an algorithm to synthesize local hand adjustment that controls t...

We approach the problem of high-DOF reaching-and-grasping via learning joint planning grasp and motion with deep reinforcement learning. To resolve sample efficiency issue in high-dimensional complex control dexterous grasping, we propose an effective representation grasping state characterizing spatial interaction between gripper target object. represent gripper-object interaction, adopt Inter...