منابع مشابه
Human grasp point selection.
When we grasp an object, our visuomotor system has to solve an intricate problem: how to find the best out of an infinity of possible contact points of the fingers with the object? The contact point selection model (CoPS) we present here solves this problem and predicts human grasp point selection in precision grip grasping by combining a few basic rules that have been identified in human and r...
متن کاملHaptic and visual influences on grasp point selection.
When using precision grip to pick up objects, there are many possible pairs of grasp points that permit the thumb and index finger to exert opposed forces for secure grip. Previously, it was shown that individuals select grasp points so that the line between them (grasp axis) passes through or near the center of mass (CoM), thus minimizing the torque around the grasp axis during lifting. The ac...
متن کاملFeature selection for grasp classification
Although the human hand is a complex biomechanical system, functional grasps may be described by small set of features. Supervised feature selection is used to evaluate the performance of reduced marker sets for grasp classification from motion capture data. Our reduced feature set maintains 85% grasp classification accuracy, compared to 90% accuracy from using the full 30 marker set. Using a l...
متن کاملGrasp Pose Detection in Point Clouds
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception analogously to object detection in computer vision. These methods take as input a noisy and partially occluded RGBD image or point cloud and produce as output pose est...
متن کاملLearning to grasp from point clouds
We study how to encode the local information of the point clouds in such a way that a robot can learn by experimentation the graspability of objects. After learning, the robot should be able to predict the graspability of unknown objects. We consider two well known descriptors in the computer vision community: Spin images and shape context. In addition, we consider two recent and efficient desc...
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ژورنال
عنوان ژورنال: Journal of Vision
سال: 2013
ISSN: 1534-7362
DOI: 10.1167/13.8.23