{"type":"ScholarlyArticle","title":"Grasp Planning from Human Prehension","authors":[{"name":"Thea Iberall","slug":"thea-iberall","given":"Thea","family":"Iberall","affiliation":"Laboratory for Perceptual Robotics Department of Computer and Information Science University of Massachusetts Amherst , Mass 01003"}],"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.","doi":null,"url":"https://ijcai.org/proceedings/1987/233","pdf":"https://ijcai.org/proceedings/1987/0233.pdf","markdown":"https://ijcai.org/proceedings/1987/233.md","bibtex":"https://ijcai.org/proceedings/1987/bibtex/233","volume":{"slug":"1987","title":"Proceedings of the Tenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1987","url":"https://ijcai.org/proceedings/1987/","year":1987,"location":"Milan, Italy","dates":"","editors":"John McDermott","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":233,"pages":{"first":1153,"last":1155},"keywords":[],"videos":[],"references":[{"position":1,"raw":"Arbib, M. A., Iberall, T. and Lyons, D. (1985): Coordi- nated Control Programs for Movements of the Hand. In: Hand Function and the Neocortex, A. W. Goodwin and I. Darian-Smith (Eds), Berlin: Springer Verlag, 111-129.","title":"Coordinated Control Programs for Movements of the Hand","authors":"M A Arbib, T Iberall, D Lyons","year":"1985","venue":"Hand Function and the Neocortex","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"Hollerbach, J. R. and Flash, T. (1982): Dynamic Interac- tions Between Limb Segments during Planar Arm Move- ments, Bioi. Cyber, 44: 67-77.","title":"Dynamic Interactions Between Limb Segments during Planar Arm Movements","authors":"J R Hollerbach, T Flash","year":"1982","venue":"Bioi. Cyber","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"Iberall, T. (1986): The Representation of Objects for Grasping, Proc Eighth Cog. Sci. Soc Conf, Amherst, Mass, Aug 15-17, 547-561.","title":"The Representation of Objects for Grasping","authors":"T Iberall","year":"1986","venue":"Proc Eighth Cog. Sci. Soc Conf","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"Iberall, T. (1987a): A Neural Model of Human Prehension, COINS TR 87-01, Dept Comp Sci, Univ Mass, Amh, Mass.","title":"A Neural Model of Human Prehension","authors":"T Iberall","year":"1987","venue":null,"doi":null,"url":null,"internal_url":null},{"position":5,"raw":"Iberall, T. (1987b): The Nature of Human Prehension: Three Dextrous Hands in One . IEEE Inter Conf Robotics 1156 ROBOTICS and Automation, Raleigh, NC, March 30-April 3, 396-401.","title":"The Nature of Human Prehension: Three Dextrous Hands in One","authors":"T Iberall","year":"1987","venue":"IEEE Inter Conf Robotics 1156 ROBOTICS and Automation","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"Iberall, T., Bingham, G. and Arbib, M. A. (1986): Op- position Space as a Structuring Concept for the Analysis of Skilled Hand Movements. In: Generation and Modula- tion of Action PatternJ 1 H. Heuer and C. Fromm, Berlin: Springer-Verlag, 158-173.","title":"Opposition Space as a Structuring Concept for the Analysis of Skilled Hand Movements","authors":"T Iberall, G Bingham, M A Arbib","year":"1986","venue":"Generation and Modulation of Action PatternJ 1 H","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"Jeannerod, M. (1981): Intersegmental coordination Dur- ing Reaching at Natural Visual Objects. In: Attention and Performance IX, J. Long and A. Baddeley (Eds), Hillsdale: Erlbaum, 153-168.","title":"Intersegmental coordination During Reaching at Natural Visual Objects","authors":"M Jeannerod","year":"1981","venue":"Attention and Performance IX","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"Johansson, R.S. and Westling, G. (1984): Influences of Cu- taneous Sensory Input on Motor Coordination During Pre- cision Manipulation. In: SomatoJenJory MechaniJmJ, C Von Fuler & 0 Franzen (Eds), Lond: MacMillian, 249-260","title":"Influences of Cutaneous Sensory Input on Motor Coordination During Precision Manipulation","authors":"R S Johansson, G Westling","year":"1984","venue":"SomatoJenJory MechaniJmJ","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"Lozano-Perez, T . and Brooks, R. (1985): An Approach to Automatic Robot Programming, AI Memo 842, MIT AI Lab, Cambridge, Mass.","title":"An Approach to Automatic Robot Programming","authors":"T Lozano-Perez, R Brooks","year":"1985","venue":null,"doi":null,"url":null,"internal_url":null},{"position":10,"raw":"Lozano-Perez, T. and Winston, P. H. (1977): LAMA: A Language for Automatic Mechanical Assembly, Proc 5th Inti J Conf Artif Intel, Cambridge, Mass, Aug, 710-716.","title":"LAMA: A Language for Automatic Mechanical Assembly","authors":"T Lozano-Perez, P H Winston","year":"1977","venue":"Proc 5th Inti J Conf Artif Intel","doi":null,"url":null,"internal_url":"/proceedings/1977/172"},{"position":11,"raw":"Lyons, D. (1985): A Simple Set of Grasps for a Dextrous Hand, COINS TR 85-37, Dept Comp and Info Sci, Univ Mass, Amherst, Mass.","title":"A Simple Set of Grasps for a Dextrous Hand","authors":"D Lyons","year":"1985","venue":null,"doi":null,"url":null,"internal_url":null},{"position":12,"raw":"MacKenzie, C. L. and Marteniuk, R. G. (1985): Motor Skill: Feedback, Knowledge, and Structural Issues, Can J PJych, 39(2): 313-337.","title":"Motor Skill: Feedback, Knowledge, and Structural Issues","authors":"C L Mackenzie, R G Marteniuk","year":"1985","venue":"Can J PJych","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"Marteniuk, R.G., MacKenzie, C.L., Jeannerod, M., Athenes, S. and Dugas, C. (1987): Constraints on Human Arm Movement Trajectories, Can J PJych, in press.","title":"Constraints on Human Arm Movement Trajectories","authors":"R G Marteniuk, C L Mackenzie, M Jeannerod, S Athenes, C Dugas","year":"1987","venue":"Can J PJych","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"Napier, J. R. (1956): Prehensile Movements of the Human Hand, J Bone Jt Surg, 38(4): 902-913.","title":"Prehensile Movements of the Human Hand","authors":"J R Napier","year":"1956","venue":"J Bone Jt Surg","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"Popielarczyk, T. (1987): A Study of Object Constraints for Dextrous Hand Prehension, Proc 3rd Hartford Grad Center Computer Science Con/, Hartford, CT, Apr 25, 227-231.","title":"A Study of Object Constraints for Dextrous Hand Prehension","authors":"T Popielarczyk","year":"1987","venue":"Proc 3rd Hartford Grad Center Computer Science Con","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"Schlesinger, G. (1919): Der Mechanische Aufbau der Kun- stlichen Glider. In: ErJatzglider und ArbeitJhilfen, M. Bor- chardt et al (Eds), Berlin: Springer.","title":"Der Mechanische Aufbau der Kunstlichen Glider","authors":"G Schlesinger","year":"1919","venue":null,"doi":null,"url":null,"internal_url":null},{"position":17,"raw":"Thbiana, R. (1981): The Architecture and Functions of the Hand. In: The Hand, vol1, R. Tubiana (Ed), Phil: W .B. Saunders, 19-93.","title":"The Architecture and Functions of the Hand","authors":"R Thbiana","year":"1981","venue":"The Hand","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"Vijaykumar, R. and Arbib, M. A. (1986): A Task-level Robot Planner for Assembly Operations, COINS TR 86- 31, Dept Comp Sci, Univ Mass, Amherst, Mass.","title":"A Task-level Robot Planner for Assembly Operations","authors":"R Vijaykumar, M A Arbib","year":"1986","venue":null,"doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}