Tutorial on Embodiment

Exercise solution

Theoretical Scheme: Grasping case studies

 

In both cases of the grasping case studies, control of grasping is very simple, or, in other words, very little ‘brain power' is required. In our scheme, we can visualize this situation as a case of feed-forward control (Fig. 3.3.3.1). Clearly, these designs have their limitations; for fine manipulation more sophisticated sensing, actuation, and control may be required (Borst et al., 2002). However, a powerful foundation on which the next layers can rest has been provided.

 

Fig. 3.3.3.1. "Cheap" grasping case studies. Material and morphology of hand/gripper serve to stabilize a grasp without sensing.

 

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References:

Borst, C.; Fischer, M. & Hirzinger, G. (2002), Calculating hand configurations for precision and pinch grasps, in 'Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS)'.