Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Visual cognition and action (vol.2): an invitation to cognitive science
Visual cognition and action (vol.2): an invitation to cognitive science
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Nonlinear optimization for human-like movements of a high degree of freedom robotics arm-hand system
ICCSA'11 Proceedings of the 2011 international conference on Computational science and its applications - Volume Part III
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Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped vertically-oriented cylinders of various heights, starting from two starting positions and performing the task at two different speeds. Movements of trunk, arm and hand were recorded by means of a 3D motion-tracking system. The results show that cylinder-height moderated the approach phase as expected: small cylinders induced grasps from above whereas large cylinders elicited grasps from the side. The collision-avoidance constraint proved not only to be accommodated by aperture overshoots but its effects already showed up early on as differential adaptations of the distal upper limb parameters. We discuss some implications of the present analysis of grasping movements for designing anthropomorphic robots.