Pre-grasp interaction as a manipulation strategy for movable objects

摘要: Robotic systems have yet to match humans in skill for movement planning and tool manipulation. For example, can robustly grasp manipulate objects even under task variation. However, successful grasping methods robotic manipulators are often limited structured environmental conditions. Our dual goals understand manipulation actions add such skills a robot manipulator's repertoire. In particular, we examine strategies object acquisition, which is common first component actions. Many approaches automating motion acquisition focused on reach-to-grasp tasks, where the arm hand configuration planned an object. With these solutions, placement remains fixed environment until carefully grasped from its presented configuration. contrast, take advantage of object's movability reorient regrasp during process. This thesis investigates how pre-grasp interaction improve through preparatory Specifically studied strategy rotation prior transport task. First, examined human performance strategy. A larger amount correlated greater lifting capability, or maximum payload, posture used at time acquisition. addition, when was more difficult due increased mass upright orientation constraints, there decreased variability selected grasping. Second, developed evaluated method manipulator. results show that robot's capabilities by both extending effective workspace improving quality action.