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Human grasps, especially whole-hand grasps, are difficult to animate because of the high number of degrees of freedom of the hand and the need for the hand to conform naturally to the object surface. Captured human motion data provides us with a rich source of examples of natural grasps. However, for each new object, we are faced with the problem of(More)
— Grasp quality measures are important for understanding how to plan for and maintain appropriate and secure grasps for pick and place operations and tool use. Most grasp quality measures assume certain symmetries about the mechanism or the task. For example, contact points may be considered to be independent and identical, or an ellipsoidal measure such as(More)
— This paper explores the planning and control of a manipulation task accomplished in conditions of high uncertainty. Statistical techniques, like particle filters, provide a framework for expressing the uncertainty and partial observ-ability of the real world and taking actions to reduce them. We explore a classic manipulation problem of planar batting,(More)
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