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3 years ago

Slides

Slides

Experimental

Experimental ResultsReach & grasp of cylindrical objectEquilateral grasp test byminimizing only graspforces withA1=1, A2=0, A3=0Grasp of a parallelepiped objectTuesday, October 19, 201010

Conclusion A hybrid reach & grasp control approach combining bio-inspiration(LWPR) and solution space exploration (by GA) was presented. Ongoing and future work focuses on three issues:◦ i) the concept of Matching Units has been expanded to themulti-finger (up to 5 fingers) grasp problem (submitted to ICRA2011). It provides object-dependent top & side grasp based onlearned heuristic methods of grasp kinematics.◦ Behavioral grasp experimentations on healthy subjects are goingto be performed in the aim of extracting biomimetic graspstrategies to be learned by MUs.◦ ii) A new 4-finger hand with new-generation actuators willreplace the existing hand with the goal of controlling bothmovement kinematics and dynamics during object-dependentreach and grasp.◦ iii) The performance of hybrid, biomimetic and non- biomimeticcontrol schemes will be compared on the ABILIS platform.Tuesday, October 19, 201011