the objective of this study was to determine the effects of grasp conditions (types of grasp, grasp width, glove and types of coupling) on maximal pushing force (mpf) and required pinch force (rpf) during snap fit assembly. the results indicated that the type of grasp, the type of coupling and wearing gloves have significant (p

Contemporary grasp detection approaches employ deep learning to achieve robustness sensor and object model uncertainty. The two dominant design either grasp-quality scoring or anchor-based recognition networks. This paper presents a different approach by treating it as keypoint in image-space. network detects each candidate pair of keypoints, convertible the representation g = { x, y, w, θ} T ,...

Grasping unknown objects in natural environments remains an open problem. An important question is how we devise simple, fast and robust methods that rely on minimal representations of objects. In this report, we present a stereo system that generates grasping hypotheses based on curve matching between two views. The contribution of the work is the use of dynamic time warping approach for enfor...

The ability to perform both causal (means-end) and geometric reasoning is important in order to achieve autonomy for advanced robotic systems. In this paper, we describe work in progress on planning for a humanoid two-arm robotic system where task and path planning capabilities have been integrated into a coherent planning framework. We address a number of challenges of integrating combined tas...

GRASP, or greedy randomized adaptive search procedure, is a multi-start metaheuristic that repeatedly applies local search starting from solutions constructed by a randomized greedy algorithm. In this chapter we review the basic building blocks of GRASP. We cover solution construction schemes, local search methods, and the use of path-relinking as a memory mechanism in GRASP. Combinatorial opti...

Successfully performing everyday behaviours requires that perceptions and actions are properly calibrated to environmental properties. In three experiments, the authors tested whether calibration was specific to perception of a particular property of a wielded object from a particular grasp position on that object. The experiments investigate whether transfer of recalibration occurs across chan...