Exploitation of environmental constraints in human and robotic grasping

被引：143

作者：

Eppner, Clemens ^{[1
]}

Deimel, Raphael ^{[1
]}

Alvarez-Ruiz, Jose ^{[1
]}

Maertens, Marianne ^{[2
]}

Brock, Oliver ^{[1
]}

机构：

[1] Tech Univ Berlin, Robot & Biol Lab, D-10587 Berlin, Germany

[2] Tech Univ Berlin, Modelling Cognit Proc Grp, Berlin, Germany

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2015年 / 34卷 / 07期

关键词：

Grasping; robotic hands; human grasping; soft hands; environmental constraints; constraint exploiting grasp strategy; HAND; DESIGN; COMPLIANT; SYNERGIES;

D O I：

10.1177/0278364914559753

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.

引用

页码：1021 / 1038

页数：18

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