Grasp Planning from Human Prehension

Iberall, Thea

Grasp Planning from Human Prehension

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Proceedings of the Tenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1153-1155.

Abstract

The study of the human hand in prehensile movements can offer insights into th e d es ign of robot grasp planners . A d es ign for a. two-level hi erarchical grasp planner is presented. The first phase maps an object and task representation into a grasporient ed description of the task. The second phase maps this description into an opposition space, which captures the available forces and degrees of fr ee dom of the hand. As th ese mappings a.renotu niqu e, constraints acting on the hand/object/task interaction are discussed.

Thea Iberall. 1987. Grasp Planning from Human Prehension. In Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87. IJCAI, 1153–1155. https://ijcai.org/proceedings/1987/233

@inproceedings{ijcai1987p233,
  title     = {Grasp Planning from Human Prehension},
  author    = {Iberall, Thea},
  booktitle = {Proceedings of the Tenth International Joint Conference on
               Artificial Intelligence, {IJCAI-87}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {John McDermott},
  pages     = {1153--1155},
  year      = {1987},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1987/233},
}

TY  - CPAPER
TI  - Grasp Planning from Human Prehension
AU  - Iberall, Thea
T2  - Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1987
SP  - 1153
EP  - 1155
UR  - https://ijcai.org/proceedings/1987/233
ER  -