Dimensionality reduction for hand-independent dexterous robotic grasping

— In this paper, we build upon recent advances in neuroscience research which have shown that control of the human hand during grasping is dominated by movement in a configuration space of highly reduced dimensionality. We extend this concept to robotic hands and show how a similar dimensionality reduction can be defined for a number of different hand models. This framework can be used to derive planning algorithms that produce stable grasps even for highly complex hand designs. Furthermore, it offers a unified approach for controlling different hands, even if the kinematic structures of the models are significantly different. We illustrate these concepts by building a comprehensive grasp planner that can be used on a large variety of robotic hands under various constraints.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Matei T. Ciocarlie, Corey Goldfeder, Peter K. Allen
• Keywords: Complex Hand Designs, IROS 2007, Robotic Hands, Robotics, Similar Dimensionality Reduction