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Hand Posture Subspaces for Dexterous Robotic Grasping
An on-line grasp planner that allows a human operator to perform dexterous grasping tasks using an artificial hand in a hand posture subspace of highly reduced dimensionality is presented. Expand
The Columbia grasp database
This work shows how to automate the construction of a database consisting of several hands, thousands of objects, and hundreds of thousands of grasps, and demonstrates a novel grasp planning algorithm that exploits geometric similarity between a 3D model and the objects in the database to synthesize form closuregrasps. Expand
Contact-reactive grasping of objects with partial shape information
The results show that reactive grasping can correct for a fair amount of uncertainty in the measured position or shape of the objects, and that the grasp selection approach is successful in grasping objects with a variety of shapes. Expand
Dimensionality reduction for hand-independent dexterous robotic grasping
This paper builds upon recent advances in neuroscience research which have shown that control of the human hand during grasping is dominated by movement in a configuration space of highly reduced dimensionality and builds a comprehensive grasp planner that can be used on a large variety of robotic hands under various constraints. Expand
Strategies for human-in-the-loop robotic grasping
This work implemented and analyzed four different strategies for performing grasping tasks, ranging from direct, real-time operator control of the end-effector pose, to autonomous motion and grasp planning that is simply adjusted or confirmed by the operator. Expand
Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem
In this paper, we build upon recent advances in neuroscience research which have shown that control of the human hand during grasping is dominated by movement in a configuration space of highlyExpand
ROS commander (ROSCo): Behavior creation for home robots
ROSCo is introduced, an open source system that enables expert users to construct, share, and deploy robot behaviors for home robots, and a test in the home of a person with quadriplegia, in which the person was able to automate parts of his home using previously-built behaviors. Expand
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
This paper presents a method for building analytical contact models for soft fingers that captures frictional effects such as coupling between tangential force and frictional torque by analyzing manipulation tasks performed by an anthropomorphic robotic hand equipped with soft fingerpads. Expand
Grasp analysis using deformable fingers
This paper demonstrates how the simulation and analysis system with finite element modeling is extended to allow it to evaluate complex contact types of hands, and proposes a new contact model that better accounts for the deformations and shows how grasp quality is affected. Expand
GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming
GP-GPIS-OPT, an algorithm for computing grasps for parallel-jaw grippers on 2D GPIS object representations that optimizes an approximation to the probability of force closure subject to antipodal constraints on the parallel jaws using Sequential Convex Programming (SCP). Expand