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Grasping has always been a hot topic in multidisciplinary field-anatomy, neuroscience and robotics. Recent research on robotic hand grasping has concentrated on introducing the grasp mechanism and characteristics of human hand to robotic hand. This paper analyzes the problem of generating grasp configurations for given objects. A one-step grasp synthesis is applied to a 20DoF five-finger anthropomorphic...
The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock pose estimation and grasping. In this paper, we propose a 3D object recognition approach using Kernel Principal Component Analysis (KPCA) only based...
In this paper we present a method for the generation of hand postural synergies for different precision grasp types to be used in dextrous robot hands. Our method records the robot hand motions while teleoperated by human subjects via a dataglove, doing different grasp types on a series of objects. This exploits the fact that humans automatically compensate for calibration errors on the glove to robot...
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