Human grasp choice and robotic grasp analysis
Dextrous robot hands
Opposition space and human prehension
Dextrous robot hands
Issues in dextrous robot hands
Dextrous robot hands
Analysis of multi-fingered grasping and manipulation
Dextrous robot hands
Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
On the closure properties of robotic grasping
International Journal of Robotics Research
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Segmentation and recovery of superquadrics: computational imaging and vision
Segmentation and recovery of superquadrics: computational imaging and vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning and prediction of soft object deformation using visual analysis of robot interactions
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part II
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This paper addresses the problem of automatic grasp synthesis of unknown planar objects. In other words, we must compute points on the object's boundary to be reached by the robotic fingers such that the resulting grasp, among infinite possibilities, optimizes some given criteria. Objects to be grasped are represented as superellipses, a family of deformable 2D parametric functions. They can model a large variety of shapes occurring often in practice by changing a small number of parameters. The space of possible grasp configurations is analyzed using genetic algorithms. Several quality criteria from existing literature together with kinematical and mechanical considerations are considered. However, genetic algorithms are not suitable to applications where time is a critical issue. In order to achieve real-time characteristics of the algorithm, neural networks are used: a huge training-set is collected off-line using genetic algorithms, and a feedforward network is trained on these values. We will demonstrate the usefulness of this approach in the process of grasp synthesis, and show the results achieved on an anthropomorphic arm/hand robot.