Matches in SemOpenAlex for { <https://semopenalex.org/work/W4229335893> ?p ?o ?g. }
- W4229335893 endingPage "570" @default.
- W4229335893 startingPage "543" @default.
- W4229335893 abstract "This paper proposes a novel type of grasping strategy that draws inspiration from the role of touch and the importance of wrist motions in human grasping. The proposed algorithm, which we call Sequential Contact-based Adaptive Grasping, can be used to reactively modify a given grasp plan according to contacts arising between the hand and the object. This technique, based on a systematic constraint categorization and an iterative task inversion procedure, is shown to lead to synchronized motions of the fingers and the wrist, as it can be observed in humans, and to increase grasp success rate by substantially mitigating the relevant problems of object slippage during hand closure and of uncertainties caused by the environment and by the perception system. After describing the grasping problem in its quasi-static aspects, the algorithm is derived and discussed with some simple simulations. The proposed method is general as it can be applied to different kinds of robotic hands. It refines a priori defined grasp plans and significantly reduces their accuracy requirements by relying only on a forward kinematic model and elementary contact information. The efficacy of our approach is confirmed by experimental results of tests performed on a collaborative robot manipulator equipped with a state-of-the-art underactuated soft hand." @default.
- W4229335893 created "2022-05-09" @default.
- W4229335893 creator A5009097726 @default.
- W4229335893 creator A5048309238 @default.
- W4229335893 creator A5056194661 @default.
- W4229335893 creator A5079017232 @default.
- W4229335893 creator A5082180334 @default.
- W4229335893 date "2022-04-01" @default.
- W4229335893 modified "2023-10-16" @default.
- W4229335893 title "Sequential contact-based adaptive grasping for robotic hands" @default.
- W4229335893 cites W1559022906 @default.
- W4229335893 cites W1794703952 @default.
- W4229335893 cites W1888892744 @default.
- W4229335893 cites W1969506947 @default.
- W4229335893 cites W1969583232 @default.
- W4229335893 cites W1979543088 @default.
- W4229335893 cites W1995529504 @default.
- W4229335893 cites W2005824379 @default.
- W4229335893 cites W2008829122 @default.
- W4229335893 cites W2012585528 @default.
- W4229335893 cites W2022457541 @default.
- W4229335893 cites W2026499961 @default.
- W4229335893 cites W2038220101 @default.
- W4229335893 cites W2041376653 @default.
- W4229335893 cites W2047066815 @default.
- W4229335893 cites W2048517616 @default.
- W4229335893 cites W2058902184 @default.
- W4229335893 cites W2064878003 @default.
- W4229335893 cites W2068793240 @default.
- W4229335893 cites W2072763216 @default.
- W4229335893 cites W2075641421 @default.
- W4229335893 cites W2103615332 @default.
- W4229335893 cites W2105777811 @default.
- W4229335893 cites W2112645080 @default.
- W4229335893 cites W2115659120 @default.
- W4229335893 cites W2116817751 @default.
- W4229335893 cites W2118436564 @default.
- W4229335893 cites W2130007788 @default.
- W4229335893 cites W2138398778 @default.
- W4229335893 cites W2140173255 @default.
- W4229335893 cites W2145517458 @default.
- W4229335893 cites W2155337985 @default.
- W4229335893 cites W2162556257 @default.
- W4229335893 cites W2164575107 @default.
- W4229335893 cites W2414685554 @default.
- W4229335893 cites W2414889006 @default.
- W4229335893 cites W2481626008 @default.
- W4229335893 cites W2489089198 @default.
- W4229335893 cites W2517641405 @default.
- W4229335893 cites W2586716914 @default.
- W4229335893 cites W2600030077 @default.
- W4229335893 cites W2615167078 @default.
- W4229335893 cites W2803078534 @default.
- W4229335893 cites W2803694791 @default.
- W4229335893 cites W2889666061 @default.
- W4229335893 cites W2901674258 @default.
- W4229335893 cites W2910163509 @default.
- W4229335893 cites W2963048676 @default.
- W4229335893 cites W2994630704 @default.
- W4229335893 cites W3112422759 @default.
- W4229335893 cites W4234057804 @default.
- W4229335893 cites W4244404253 @default.
- W4229335893 cites W971303027 @default.
- W4229335893 doi "https://doi.org/10.1177/02783649221081154" @default.
- W4229335893 hasPublicationYear "2022" @default.
- W4229335893 type Work @default.
- W4229335893 citedByCount "3" @default.
- W4229335893 countsByYear W42293358932023 @default.
- W4229335893 crossrefType "journal-article" @default.
- W4229335893 hasAuthorship W4229335893A5009097726 @default.
- W4229335893 hasAuthorship W4229335893A5048309238 @default.
- W4229335893 hasAuthorship W4229335893A5056194661 @default.
- W4229335893 hasAuthorship W4229335893A5079017232 @default.
- W4229335893 hasAuthorship W4229335893A5082180334 @default.
- W4229335893 hasConcept C111472728 @default.
- W4229335893 hasConcept C121332964 @default.
- W4229335893 hasConcept C127413603 @default.
- W4229335893 hasConcept C133731056 @default.
- W4229335893 hasConcept C138885662 @default.
- W4229335893 hasConcept C154945302 @default.
- W4229335893 hasConcept C171268870 @default.
- W4229335893 hasConcept C199360897 @default.
- W4229335893 hasConcept C2775924081 @default.
- W4229335893 hasConcept C2781238097 @default.
- W4229335893 hasConcept C31972630 @default.
- W4229335893 hasConcept C39920418 @default.
- W4229335893 hasConcept C41008148 @default.
- W4229335893 hasConcept C47446073 @default.
- W4229335893 hasConcept C74650414 @default.
- W4229335893 hasConcept C75553542 @default.
- W4229335893 hasConcept C88337583 @default.
- W4229335893 hasConcept C90509273 @default.
- W4229335893 hasConceptScore W4229335893C111472728 @default.
- W4229335893 hasConceptScore W4229335893C121332964 @default.
- W4229335893 hasConceptScore W4229335893C127413603 @default.
- W4229335893 hasConceptScore W4229335893C133731056 @default.
- W4229335893 hasConceptScore W4229335893C138885662 @default.
- W4229335893 hasConceptScore W4229335893C154945302 @default.