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Pre-grasp Interaction for Object Acquisition in Difficult Tasks

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The Human Hand as an Inspiration for Robot Hand Development

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

Abstract

In natural manipulation activities of daily living, actions for object grasping must respect several constraints for successful task completion. For example, grasping actions must satisfy at a minimum the reachability of grasp contacts on the object surface, collision avoidance with obstacles, and kinematic as well as strength limits of the hand. In challenging manipulation scenarios with high constraints, direct reaching actions to grasp the object in place may not be sufficient for object acquisition. We have observed that humans use pre-grasp interaction to adjust the object placement during the grasping process. For example, an object may be slid or tumbled on its support surface before the final grasp contacts are achieved. In this chapter we provide an overview of the variety of pre-grasp actions that we have observed from a video survey of human manipulation activities in natural home and occupational environments. We then present our studies of object reorientation by rotation, as a particular type of human pre-grasp interaction. Finally we examine the utility of pre-grasp rotation for increasing object reachability and grasp reuse for a robot manipulator.

Manuscript received March 16, 2011. This work was supported in part by the National Science Foundation (CCF-0702443). L. Chang also received support from a NASA Harriet G. Jenkins Pre-Doctoral Fellowship. L. Chang was with the Robotics Institute at Carnegie Mellon University, Pittsburgh, PA 15213 USA, where this research was completed. L. Chang is a 2010–2012 NSF Computing Innovation Fellow hosted by Intel Corporation and received support from the National Science Foundation under Grant #1019343 to the Computing Research Association for the CI Fellows Project.

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Acknowledgments

The authors would like to thank Roberta Klatzky, Howard Seltmann, Garth Zeglin, and Justin Macey for their contributions to the studies presented in this chapter.

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Authors and Affiliations

  1. Robotics Institute at Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Lillian Chang

  2. The School of Computer Science at Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Nancy Pollard

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  1. Lillian Chang
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  2. Nancy Pollard
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Correspondence to Lillian Chang .

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Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

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Chang, L., Pollard, N. (2014). Pre-grasp Interaction for Object Acquisition in Difficult Tasks. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_23

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  • DOI: https://doi.org/10.1007/978-3-319-03017-3_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03016-6

  • Online ISBN: 978-3-319-03017-3

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