/The Complexities of Grasping in the Wild

The Complexities of Grasping in the Wild

Yuzuko C. Nakamura, Daniel M. Troniak, Alberto Rodriguez, Matthew T. Mason and Nancy Pollard
Conference Paper, IEEE RAS International Conference on Humanoid Robots (HUMANOIDS), November, 2017

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The recent ubiquity of high-framerate (120 fps and higher) handheld cameras creates the opportunity to study human grasping at a greater level of detail than normal speed cameras allow. We first collected 91 slow-motion interactions with objects in a convenience store setting. We then annotated the actions through the lenses of various existing manipulation taxonomies. We found manipulation, particularly the process of forming a grasp, is complicated and proceeds quickly. Our dataset shows that there are many ways that people deal with clutter in order to form a strong grasp of an object. It also reveals several errors and how people recover from them. Though annotating motions in detail is time-consuming, the annotation systems we used nevertheless leave out important aspects of understanding manipulation actions, such as how the environment is functioning as a “finger” of sorts, how different parts of the hand can be involved in different grasping tasks, and high-level intent.

BibTeX Reference
author = {Yuzuko C. Nakamura and Daniel M. Troniak and Alberto Rodriguez and Matthew T. Mason and Nancy Pollard},
title = {The Complexities of Grasping in the Wild},
booktitle = {IEEE RAS International Conference on Humanoid Robots (HUMANOIDS)},
year = {2017},
month = {November},
keywords = {Grasping, Manipulation},