Seminar: Planning and functionality evaluation of grasping and in-hand manipulation

Martedì, 13 Gennaio, 2015 - 14:30

13 Gennaio 2015, ore 14.30, Sala videoconferenze (Aula 103).

Relatore: Dr. Maximo Roa, DLR German Aerospace Center, Institute of Robotics and Mechatronics Autonomy and Teleoperation.

Title: Planning and functionality evaluation of grasping and in-hand manipulation.

This talk will present some aspects of grasp planning, mainly centered around two concepts: shape warping, to generalize grasps on a known object to objects in the same functional category, and independent contact regions (ICRs), i.e. regions on the object boundary that guarantee force-closure grasps and therefore provide robustness to finger positioning errors. Applications in autonomous grasping for industrial applications and in shared autonomy for teleoperation scenarios will be presented. The second part of the talk will be focused on functionality evaluation for multi-fingered hands, exploring the relation between the kinematic design versus grasping and manipulation performance. Some preliminary results will be presented, which show some disconnection between perceived good designs through common evaluation criteria and their actual, realizable manipulation performance.

Referente scientifico: Prof. Domenico Prattichizzo.