6 research outputs found
Functional power grasps transferred through warping and replanning
This paper presents a method to transfer functional
grasps among objects of the same category through
contact warping and local replanning. The method transfers
implicit knowledge that enables an action on a class of objects
for which no explicit grasp or task information has been given
in advance. Contact points on the source object are warped
based on global and local shape similarities to the target object.
These warped contacts are then used to define a hand posture
that reaches close to them, while at the same time provides the
desired functionality on the object. The approach is tested on
different sets of objects with a success rate of 87.5%, and large
benefits are shown when compared to a naive technique that
only transfers a suitable hand pose to the novel object