RSS 2015 Workshop

Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation

July 16, Rome

"Grasping with Hands", Antonio Bicchi, University of Pisa

I will shortly discuss the basics of grasping, and show how some of the traditional analytical methods suffer from a common deficiency - what I call "handless grasping". Opposed to these are techniques to "grasp with hands", i.e. taking into account the physical properties of hands - their kinematics, dynamics, compliance, friction. The problem is ever more relevant when under-actuated, compliant hands are used in direct contact with the environment, which participates in shaping the hand itself. This is a joint work with Manuel Bonilla, Hamal Marino, Marco Gabiccini.