Scale-Dependent Grasps
نویسندگان
چکیده
This paper discusses the scale-dependent grasps. Suppose that an object is initially placed on a table without touching by human hand and, then he (or she) finally achieves an enveloping grasp after an appropriate approach phase. Under such initial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even though they have similar geometry. We call the grasp planning the scaledependent grasp. Along the grasp patterns observed in human grasping, we apply a couple of grasp procedures to multi-fingered robot hands.
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