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On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
2017 IEEE Robotics and Automation Letters  
They both consider main grasp properties: contact points, friction coefficient, etc., but also hand degrees of freedom and consequently the directions of controllable contact forces.  ...  The availability of grasp quality measures is fundamental for grasp planning and control, and also to drive designers in the definition and optimization of robotic hands.  ...  The above cited papers are mainly focused on the hand's structure and actuation system, and do not account for other grasping properties such as friction, and contact force limits.  ... 
doi:10.1109/lra.2016.2612304 dblp:journals/ral/PozziMP17 fatcat:vjbmyocvjfd5db6rzrh36xtblu

Passive Reaction Analysis for Grasp Stability [article]

Maximilian Haas-Heger, Garud Iyengar, Matei Ciocarlie
2018 arXiv   pre-print
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the  ...  In particular, we assume that there is no change in the joint torques being actively exerted by the motors; any change in contact forces and joint torques is due exclusively to passive effects arising  ...  Using a quasi-static model, the subspace of internal forces was decomposed into subspaces of active and passive internal forces.  ... 
arXiv:1801.06558v1 fatcat:o2tidloutnht5gw7oor3lwetaq

Robust realtime physics-based motion control for human grasping

Wenping Zhao, Jianjie Zhang, Jianyuan Min, Jinxiang Chai
2013 ACM Transactions on Graphics  
Our solution leverages prerecorded motion data and physics-based simulation for human grasping.  ...  We show our physics-based motion control for human grasping is robust to external perturbations and changes in physical quantities.  ...  IIS-1065384 and IIS-1055046.  ... 
doi:10.1145/2508363.2508412 fatcat:2kvpvg4qjjaoddibytczenlh6m

Dynamic analysis of mobility and graspability of general manipulation systems

D. Prattichizzo, A. Bicchi
1998 IEEE Transactions on Robotics and Automation  
Finally, a standard form of the dynamics of general manipulation systems is provided as a compact and readable synopsis of the dynamic structure.  ...  The form is a valuable tool for synthesizing dynamic controllers for such systems, especially suited to geometric control design methods.  ...  Salisbury, Massachusetts Institute of Technology, Cambridge, and A. Balestrino and G. Casalino, University of Pisa, Pisa, Italy, for their often inspiring views, discussions, and comments.  ... 
doi:10.1109/70.681243 fatcat:5dazp6zm5vab3kajkgk7dd7xpq

contact and grasp robustness measures: Analysis and experiments [chapter]

Domenico Prattichizzo, John Kenneth Salisbury, Antonio Bicchi
Experimental Robotics IV  
We brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for the latter.  ...  In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors  ...  Acknowledgements This work partially done under grants ESPRIT CO 032 94 TS, WG 8474 LEGRO" and ...  ... 
doi:10.1007/bfb0035199 dblp:conf/iser/PrattichizzoSB95 fatcat:pdqbqpf66fdp7e26u6wlwdxe2a

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review [chapter]

Fouad F., Pierre Payeur
2010 Robot Manipulators Trends and Development  
Some researchers aimed at investigating optimal grasp points or regions for balancing forces to achieve equilibrium grasp.  ...  Grasping can be seen as the resultant of the interaction with an object at these contact points, while the location of the contact points can determine the quality and stability of the grasp.  ...  It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems.  ... 
doi:10.5772/9183 fatcat:45qccjxfjnaspesr6d4cdiusay

Quantitative Safety Guarantees for Physical Human-Robot Interaction

Jochen Heinzmann, Alexander Zelinsky
2003 The international journal of robotics research  
In this paper we describe the formulation and implementation of a control strategy for robot manipulators which provides quantitative safety guarantees for the user of assistant-type robots.  ...  Such accidental collisions may occur with any part of the robot and therefore the impact force not only of the robot's hand but of all surfaces is controlled by the scheme.  ...  The object is then grasped and the success of the object grasping operation can be determined from the positions of the finger at the end of their closing.  ... 
doi:10.1177/02783649030227004 fatcat:nze7eumy5zhmpc3dkbgvswpt6q

A Continuous Grasp Representation for the Imitation Learning of Grasps on Humanoid Robots

Martin Minh Thong Do
Models and methods are presented which enable a humanoid robot to learn reusable, adaptive grasping skills. Mechanisms and principles in human grasp behavior are studied.  ...  Based on the representation a framework is proposed which enables the robot to observe human grasping, learn grasp representations, and infer executable grasping actions.  ...  to achieve a grasp in the equilibrium, a state at which all forces and moments are balanced out.  ... 
doi:10.5445/ir/1000047789 fatcat:3v2ylnibkvfmhirgvdcorumhqq

Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces [article]

Tianjian Chen, Long Wang, Maximilan Haas-Heger, Matei Ciocarlie
2020 arXiv   pre-print
Our method guarantees that the resulting synergies can be physically implemented in an underactuated hand, and will enable the resulting hand to both reach the desired grasp postures and achieve quasistatic  ...  We demonstrate this method on three concrete design examples motivated by a real use case, and evaluate and compare their performance in practice.  ...  The authors would like to thank Jinzhao Chang, Abhijeet Mishra and Tianyi Zhang for their contributions to the hardware design.  ... 
arXiv:1905.11293v4 fatcat:oucmuigeavaffhjtqkimcfvagq

Contact Force and Joint Torque Estimation Using Skin [article]

Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci
2017 arXiv   pre-print
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors.  ...  The application of these interpolation techniques allows us to estimate contact forces and joint torques without the need for expensive force-torque sensors.  ...  This approach gives mainly the contact location for improving grasping, while estimation of contact forces is neglected.  ... 
arXiv:1709.06902v1 fatcat:xl5kfs4qbneixe4qcmacibwazm

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems [article]

Dinesh Rabindran
2014 arXiv   pre-print
Detailed kinematic and dynamic models of this dual actuator are developed.  ...  Experiments were conducted to study the practical issues involved in implementing stable contact transitions and programmable endpoint impedance.  ...  Kumar and Waldron [1988] studied force distribution in systems with multiple frictional contact points between dynamically coordinated mechanisms. Multifingered grasp is such a problem.  ... 
arXiv:1402.5461v1 fatcat:xcnz2pjnyvf2fpfsvc7nd7hhjq

Generality and Simple Hands [chapter]

Matthew T. Mason, Siddhartha S. Srinivasa, Andres S. Vazquez
2011 Springer Tracts in Advanced Robotics  
It raises arguments both for and against simple hands; it considers several familiar examples; and it proposes a concept for a simple hand design with associated strategies for grasping, recognition, and  ...  The central idea is to use learned knowledge of stable grasp poses as a cue for object recognition and localization.  ...  Acknowledgements We wish to thank Mike Erdmann, Garth Zeglin, Amir Degani, Koen Ruskamp, Tomas Lozano-Perez, Tom Fuhlbrigge, David Bourne, and Mark Cutkosky.  ... 
doi:10.1007/978-3-642-19457-3_21 fatcat:vd5crhbfefbmfgdath3zrdmqcm

Robot grasping by exploiting compliance and environmental constraints

Clemens Eppner, Technische Universität Berlin, Technische Universität Berlin, Oliver Brock
Next, we focus on the interactions between hand and environment. We show that contacting the environment can improve success in motion and grasping tasks. We conclude our in [...]  ...  Grasping is a crucial skill for any autonomous system that needs to alter the physical world.  ...  The features are mapped to grasping actions: enveloping grasps for surfaces and pinch grasps for contours.  ... 
doi:10.14279/depositonce-8896 fatcat:2pncbuw7s5ccvoem746qoogwe4

Global organization of neuronal activity only requires unstructured local connectivity

David Dahmen, Moritz Layer, Lukas Deutz, Paulina Anna Dąbrowska, Nicole Voges, Michael von Papen, Thomas Brochier, Alexa Riehle, Markus Diesmann, Sonja Grün, Moritz Helias
2022 eLife  
Here, we combine in vivo recordings with network models and theory to characterize the nature of mesoscopic coordination patterns in macaque motor cortex and to expose their origin: We find that heterogeneity  ...  Our theory explains the experimentally observed spatial organization of covariances in resting state recordings as well as the behaviorally related modulation of covariance patterns during a reach-to-grasp  ...  7 Note on derivation of variance of covariances Note that and have an identical structure determined by the connectivity profile and the structure of the covariance equation is identical for the mean Equation  ... 
doi:10.7554/elife.68422 pmid:35049496 pmcid:PMC8776256 fatcat:diwg6ofu5zfv3kuph2t3twm25e

Grasping for the Task:Human Principles for Robot Hands

Ravin Luis De Souza
For precision and power grasps, their dexterity and overall robustness properties are a consequence of engaging finger-tips only or maximizing contact with hand surface.  ...  The regions of the hand that will be in opposition, together with distribution of grasping force, constitutes the oppositional intention.  ...  Here contact forces are harnessed to adapt the hand so as to maximize contact with the object and balance forces to achieve robust grasping.  ... 
doi:10.5075/epfl-thesis-6702 fatcat:aj43xxjxgbbpxmipjug4mtbybi
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