From human grasping to robot grasping

Date

2009-01-01

Author

Oztop, Erhan
Ozyer, Baris
Ugur, Emre
Kawato, Mitsuo

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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We will report our ongoing work on task dependent grasping in humans and realization of this skill on a robotic platform. The human movements are recorded using a motion capture system and analyzed off-line or used online to control a robotic system. The off-line results showed that humans deploy different grasps for objects depending on the task specification (e.g. grasping a hammer for prying or driving a nail), even though the orientation and location of the objects were kept the same. The off-line data is also used to derive robot trajectories implementing task depended grasping on a 7-DOF robotic arm and a 16-DOF robotic hand.

Subject Keywords

General Neuroscience, General Medicine

URI

https://hdl.handle.net/11511/67564

DOI

https://doi.org/10.1016/j.neures.2009.09.979

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

E. Oztop, B. Ozyer, E. Ugur, and M. Kawato, “From human grasping to robot grasping,” 2009, vol. 65, p. 0, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/67564.