Robot grasp planning based on demonstrated grasp strategies

  title={Robot grasp planning based on demonstrated grasp strategies},
  author={Yun Lin and Yu Sun},
  journal={The International Journal of Robotics Research},
  pages={26 - 42}
  • Yun LinYu Sun
  • Published 1 January 2015
  • Psychology
  • The International Journal of Robotics Research
This paper presents a novel robot grasping planning approach that extracts grasp strategies (grasp type, and thumb placement and direction) from human demonstration and integrates them into the grasp planning procedure to generate a feasible grasp concerning the target object geometry and manipulation task. Our study results show that the grasp strategies of grasp type and thumb placement not only represent important human grasp intentions, but also provide meaningful constraints on hand… 

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