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Paper FrC5.2

Sugiyama, Seiji (Ritsumeikan University), Koeda, Masanao (Osaka Electro-Communication University), Fujimoto, Hiroshi (Ritsumeikan Univ.), Yoshikawa, Tsuneo (Ritsumeikan University)

Measurement of Grasp Position by Human Hands and Grasp Criterion for Two Soft-Fingered Robot Hands

Scheduled for presentation during the Regular Sessions "Grasping - III" (FrC5), Friday, May 15, 2009, 13:50−14:10, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Grasping, Multifingered Hands, Planning, Scheduling and Coordination

Abstract

In this study, grasp positions of human hands are measured for planar objects for development of a reasonable grasp criterion for a two-soft-fingered robotic hand. We first propose a grasp criterion that yields the best grasping position for a robot hand with two soft fingers. To examine the properties of this criterion with respect to some weighting coefficients included in the criterion, a grasping experiment is performed by humans for planar objects with various sizes and shapes. Results show that many observed grasping positions used by humans correspond to a set of weighting coefficients that equally weigh all the factors in the criterion. A grasping experiment using a robot has also been conducted using a set of coefficients corresponding to the equal weight; the effectiveness of the criterion was confirmed.

 

 

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