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Hand Posture Subspaces for Dexterous Robotic GraspingDepartment of Computer Science, Columbia University, New York, NY 10027, USA, cmatei{at}cs.columbia.edu
Department of Computer Science, Columbia University, New York, NY 10027, USA, allen{at}cs.columbia.edu In this paper we focus on the concept of low-dimensional posture subspaces for artificial hands. We begin by discussing the applicability of a hand configuration subspace to the problem of automated grasp synthesis; our results show that low-dimensional optimization can be instrumental in deriving effective pre-grasp shapes for a number of complex robotic hands. We then show that the computational advantages of using a reduced dimensionality framework enable it to serve as an interface between the human and automated components of an interactive grasping system. We present an on-line grasp planner that allows a human operator to perform dexterous grasping tasks using an artificial hand. In order to achieve the computational rates required for effective user interaction, grasp planning is performed in a hand posture subspace of highly reduced dimensionality. The system also uses real-time input provided by the operator, further simplifying the search for stable grasps to the point where solutions can be found at interactive rates. We demonstrate our approach on a number of different hand models and target objects, in both real and virtual environments.
Key Words: interactive grasping • dexterous robotic hands • hand prosthetics.
The International Journal of Robotics Research, Vol. 28, No. 7,
851-867 (2009) |
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