• Corpus ID: 6853822

Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem

  title={Dexterous Grasping via Eigengrasps : A Low-dimensional Approach to a High-complexity Problem},
  author={Matei T. Ciocarlie and Corey Goldfeder and Peter K. Allen},
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 highly reduced dimensionality. We extend this concept to robotic hands and show how a similar dimensionality reduction can be defined for a number of different hand models. This framework can be used to derive optimization algorithms that simplify the task of finding stable grasps even for highly complex hand… 

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