Chapter 2. Prehension

Chapter 4 - Planning of Prehension 107
grasp strategy. Critical to grasping the opposable surfaces is
transporting the hand to a location and orientation near the object to
make this possible. An approach vector can be constructed between
the hand and the opposition vector (see Figure 4.18). This in effect,
describes the task space, relating the hand to the object. It has been
shown that this location could be a palm location generated by an arm
configuration that has been calibrated to the eye muscle coordinate
frame. An alternative solution is a preplanned location and orientation
for the palm where the grasping surface patches of virtual finger 1 and
2 can align their force vectors with the opposition vector. Importantly,
the chosen palm location and orientation are affected by both task
constraints and object properties.