Dimensionality reduction for hand-independent dexterous robotic grasping Export

@inproceedings{ciocarlie2007, abstract = {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 offers a unified approach for controlling different hands, even if the kinematic structures of the models are significantly different. We illustrate these concepts by building a comprehensive grasp planner that can be used on a large variety of robotic hands under various constraints.}, author = {Ciocarlie, Matei and Goldfeder, Corey and Allen, Peter}, booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on}, citeulike-article-id = {2360410}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/IROS.2007.4399227}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4399227}, doi = {10.1109/IROS.2007.4399227}, journal = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on}, keywords = {dof, eigengrasp, graspit, greifen, greiftheorie, pca}, pages = {3270--3275}, posted-at = {2009-03-04 13:46:19}, priority = {0}, title = {Dimensionality reduction for hand-independent dexterous robotic grasping}, url = {http://dx.doi.org/10.1109/IROS.2007.4399227}, year = {2007} }

TY - CONF ID - ciocarlie2007 L3 - citeulike-article-id:2360410 N2 - 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 offers a unified approach for controlling different hands, even if the kinematic structures of the models are significantly different. We illustrate these concepts by building a comprehensive grasp planner that can be used on a large variety of robotic hands under various constraints. JF - Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on EP - 3275 TI - Dimensionality reduction for hand-independent dexterous robotic grasping T2 - Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on SP - 3270 KW - dof KW - eigengrasp KW - graspit KW - greifen KW - greiftheorie KW - pca AU - Ciocarlie, Matei AU - Goldfeder, Corey AU - Allen, Peter PY - 2007/// UR - http://dx.doi.org/10.1109/IROS.2007.4399227 ER -