Hand Posture Subspaces for Dexterous Robotic Grasping

@article{Ciocarlie2009HandPS,
  title={Hand Posture Subspaces for Dexterous Robotic Grasping},
  author={Matei T. Ciocarlie and Peter K. Allen},
  journal={The International Journal of Robotics Research},
  year={2009},
  volume={28},
  pages={851 - 867}
}
  • M. Ciocarlie, P. Allen
  • Published 1 July 2009
  • Computer Science
  • The International Journal of Robotics Research
In this paper we focus on the concept of low-dimensional posture subspaces for artificial hands. We begin by discussing the applicability of a hand configuration subspace to the problem of automated grasp synthesis; our results show that low-dimensional optimization can be instrumental in deriving effective pre-grasp shapes for a number of complex robotic hands. We then show that the computational advantages of using a reduced dimensionality framework enable it to serve as an interface between… 
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