Robotic Grasping for Instrument Manipulations
robots, computational modeling, adaptation models, automation, manufacturing, hand configuration space, robotic grasping, instrument manipulation, manipulation-oriented grasp requirement, interactive wrench requirement, motion requirement, grasp quality measures, grasp type, thumb placement
Digital Object Identifier (DOI)
The paper focuses on the grasp requirements derived from the voluntary and involuntary physical interactions in instrument manipulations. The manipulation-oriented grasp requirements include interactive wrench requirements and motion requirements that are required to accomplish a manipulation task. The manipulation-oriented grasp requirements are directly associated with the functionality of the instrument and the manipulation task, but independent from the robotic hardware. Grasp quality measures developed from the manipulation-oriented grasp requirements can be used as search criteria for optimal grasps. Working with hardware-independent grasping strategies extracted from human demonstration including grasp type and thumb placement, optimal grasps could be located efficiently in a dramatically reduced hand configuration space.
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Citation / Publisher Attribution
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Xi'an, 2016, p. 302-304.
Scholar Commons Citation
Sun, Yu; Lin, Yun; and Huang, Yongqiang, "Robotic Grasping for Instrument Manipulations" (2016). Computer Science and Engineering Faculty Publications. 82.