Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyTowards Postural Synergies for Caging Grasps
In Hand Synergies - how to tame the complexity of grapsing, Workshop, IEEE International Conference on Robotics and Automation (ICRA), 2013
Abstract
Postural synergies have in recent years been successfully used as a low-dimensional representation for the control of
robotic hands and in particular for the synthesis of force-closed grasps. This work proposes to study caging grasps
using synergies and reports on an initial analysis of postural synergies for such grasps. Caging grasps, which have
originally only been analyzed for simple planar objects, have recently been shown to be useful for certain manipulation
tasks and are now starting to be investigated also for complicated object geometries. In this workshop contribution, we
investigate a synthetic data-set of caging grasps of four robotic hands on several every-day objects and report on an
analysis of synergies for this data-set.
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@inproceedings{stork2013a,
author = {Stork, Johannes A. and Pokorny, Florian T. and Kragic, Danica},
booktitle = {Hand Synergies - how to tame the complexity of grapsing,
Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
title = {Towards Postural Synergies for Caging Grasps},
year = {2013},
address = {Karlsruhe, Germany},
url = {http://www.csc.kth.se/~fpokorny/static/publications/stork2013a.pdf}
}