Dimensionality reduction for hand-independent dexterous robotic grasping

@article{Ciocarlie2007DimensionalityRF,
  title={Dimensionality reduction for hand-independent dexterous robotic grasping},
  author={M. Ciocarlie and Corey Goldfeder and P. Allen},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={3270-3275}
}
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 planning algorithms that produce stable grasps even for highly complex hand designs. Furthermore, it… Expand

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