Grasping Grasping in GRASP

Grasping the dice by dicing the grasp

Many methods for generating and analyzing grasps have been developed in the recent years. They gave insight and comprehension of grasping with robot hands but many of them are rather complicated to implement and of high computational complexity. In this paper we study if the basic quality criterion for grasps, the force-closure property, is in principle easy or difficult to reach. We show that ...

Shared Grasping: a Combination of Telepresence and Grasp Planning

Telepresence systems can be used for repair and maintenance in environments that are hard to access or dangerous for the human. Current systems can effectively the gross motor skills of the human operator into actions in the remote environment. In comparison, fine manipulation, like the secure grasping and handling of complex objects, is error-prone and strenuous for the operator. To execute su...

Trying to Grasp a Sketch of a Brain for Grasping

Brain-like behavior is intimately connected with the ability to actively manage a rich set of interactions with the environment. Originating with very simple movements in homogeneous domains, the gradual evolution of movement sophistication endowed animals with an increasing ability to control their environment, ultimately advancing from the physical into the mental object domain with the adven...

Extending fingertip grasping to whole body grasping

Grasping neurones

We agree with Robertson that our new view on grasping is a description of motor behaviour rather than offering any insight into the nature of the neural processing underlying this behaviour. However, neurophysiologists might be inspired by our new view to ask other questions, do other experiments, and analyse these differently. In this way, they could generate new insights about the neural cont...