Dynamic Pre-Grasp Planning when Tracing a Moving Object Through a Multi-Agent Perspective
Michael Bowman,Xiaoli Zhang,Michael Bowman,Xiaoli Zhang
While a human is tracking a moving object to prepare for later grasping, we naturally change our hand pose to generate optimal pre-grasp to avoid post-grasp adjustment. Robot hand controllers need dynamic pre-grasp planning capability, so they are not limited in dynamic tracking and catching tasks. To fill this gap, we explore the feasibility of using a two-stage optimization method to enable dyna...
