Experiments on Grasp Acquisition

Grasping and manipulation skills are key aspects for service robots. We present our initial work on the dynamic grasp acquisition (DGA) problem, which is characterized by a large relative velocity between the palm of the hand and the object at the time the fingers begin closing to form the grasp. These kinds of problems are particularly demanding for the hardware and software systems, and so were chosen to help us explore the limits of DLR’s humanoid robot, Justin. We conducted two types of DGA experiments: catching a tossed ball and “snatching” an object at rest on a table. The experimental set-ups are discussed and relevant performance measures for these DGA tasks are proposed.

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