Abstract
We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view by analyzing human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.
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Acknowledgments
We gratefully acknowledge the funding provided by the Alexander-von-Humboldt foundation, and the Federal Ministry of Education and Research (BMBF). We are equally grateful for funding provided by the First-MM project (European Commission, FP7-ICT-248258). We thank SimLab for their support.
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Deimel, R., Eppner, C., Álvarez-Ruiz, J., Maertens, M., Brock, O. (2016). Exploitation of Environmental Constraints in Human and Robotic Grasping. In: Inaba, M., Corke, P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_23
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DOI: https://doi.org/10.1007/978-3-319-28872-7_23
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