Kinematic Synergy Primitives for Human-Like Grasp Motion Generation
Julia Starke,Tamim Asfour,Julia Starke,Tamim Asfour
Grasping with five-fingered humanoid hands is a complex control problem. Throughout the entire grasping motion, all finger joints need to be coordinated to achieve a stable grasp. Grasp synergies provide a simplified, low-dimensional representation of grasp postures and motions, that can be used for the description of human grasps as well as the generation of novel, human-like grasps. However, the...
