Tutorial on Embodiment
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. 22.214.171.124). 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. 126.96.36.199. "Cheap" grasping case studies. Material and morphology of hand/gripper serve to stabilize a grasp without sensing.