Hand Posture Subspaces for Dexterous Robotic Grasping Export

@article{ciocarlie2009, abstract = {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 the human and automated components of an interactive grasping system. We present an on-line grasp planner that allows a human operator to perform dexterous grasping tasks using an artificial hand. In order to achieve the computational rates required for effective user interaction, grasp planning is performed in a hand posture subspace of highly reduced dimensionality. The system also uses real-time input provided by the operator, further simplifying the search for stable grasps to the point where solutions can be found at interactive rates. We demonstrate our approach on a number of different hand models and target objects, in both real and virtual environments. 10.1177/0278364909105606}, author = {Ciocarlie, Matei T. and Allen, Peter K.}, citeulike-article-id = {5096598}, citeulike-linkout-0 = {http://dx.doi.org/10.1177/0278364909105606}, citeulike-linkout-1 = {http://ijr.sagepub.com/cgi/content/abstract/28/7/851}, day = {1}, doi = {10.1177/0278364909105606}, journal = {The International Journal of Robotics Research}, keywords = {dim\_reduction, eigengrasp, hand, kinematik}, month = {July}, number = {7}, pages = {851--867}, posted-at = {2009-07-16 14:01:20}, priority = {0}, title = {Hand Posture Subspaces for Dexterous Robotic Grasping}, url = {http://dx.doi.org/10.1177/0278364909105606}, volume = {28}, year = {2009} }

TY - JOUR ID - ciocarlie2009 L3 - citeulike-article-id:5096598 N2 - 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 the human and automated components of an interactive grasping system. We present an on-line grasp planner that allows a human operator to perform dexterous grasping tasks using an artificial hand. In order to achieve the computational rates required for effective user interaction, grasp planning is performed in a hand posture subspace of highly reduced dimensionality. The system also uses real-time input provided by the operator, further simplifying the search for stable grasps to the point where solutions can be found at interactive rates. We demonstrate our approach on a number of different hand models and target objects, in both real and virtual environments. 10.1177/0278364909105606 IS - 7 JF - The International Journal of Robotics Research EP - 867 TI - Hand Posture Subspaces for Dexterous Robotic Grasping VL - 28 SP - 851 KW - dim_reduction KW - eigengrasp KW - hand KW - kinematik AU - Ciocarlie, Matei AU - Allen, Peter PY - 2009/07/01/ UR - http://dx.doi.org/10.1177/0278364909105606 ER -