Title :
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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774087
