Human visual servoing for reaching and grasping: the role of 3D geometric features

Author

Hu, Y. ; Eagleson, R. ; Gooda, M.A.

Author_Institution

Dept. of Psychol., Western Ont. Univ., London, Ont., Canada

Volume

4

fYear

1999

fDate

1999

Firstpage

3209

Abstract

The authors investigated the kinematics of human visually guided prehension in a situation similar to that typically used in visual servo control of autonomous robots. They found that kinematic parameters of the human grasp, such as transport velocity, path, and grip aperture, were determined by the 3-dimensional geometric structure of the target object, not the 2-dimensional projected image of the object. The results of this study have important implications for the design of reliable and efficient control systems for robots with human-like capabilities

Keywords

biocontrol; biomechanics; biomedical measurement; kinematics; manipulators; medical robotics; neurophysiology; visual perception; 3D geometric features; autonomous robots; grasping; grip aperture; human visual servoing; human visually guided prehension; human-like capabilities; reaching; target object; transport velocity; visual servo control; Control systems; End effectors; Humanoid robots; Humans; Jacobian matrices; Kinematics; Robot control; Robot sensing systems; Servosystems; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.774087

Filename

774087