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Abstract

Many approaches to grasp synthesis do not scale well as the desired number of contacts is increased. In previous work, we have presented a technique that makes use of an example grasp to make synthesis tractable for grasps having larger numbers of contacts. However, an interesting side effect of this approach is that results can pick up quirks that are present in the example, some of which may be undesirable. We are beginning to explore techniques to tune an example grasp for a specific collection of task wrenches and to a given object geometry. This paper presents preliminary results.

Keywords

grasp synthesis, hands

Notes

Sponsor: NSF

Grant ID: CCF-0343161

Number of pages: 16

Text Reference

Nancy Pollard and Alon Wolf, "Grasp Synthesis from Example: Tuning the Example to a Task or Object," Multi-point Interaction with Real and Virtual Objects, Federico Barbagli, Domenico Prattichizzo, and Kenneth Salisbury, ed., Springer Tracts in Advanced Robotics, 2005, pp. 77-90.

BibTeX Reference

@incollection{Pollard_2005_5397,
   author = "Nancy Pollard and Alon Wolf",
   editor = "Federico Barbagli, Domenico Prattichizzo, and Kenneth Salisbury",
   title = "Grasp Synthesis from Example: Tuning the Example to a Task or Object",
   booktitle = "Multi-point Interaction with Real and Virtual Objects",
   pages = "77-90",
   publisher = "Springer Tracts in Advanced Robotics",
   year = "2005",
}

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