Inhalt des Dokuments
Grasping has been an active area
of research for several decades. In spite of many efforts, a robust,
general approach to grasping in unstructured environments does not
exist. Most research makes the strong assumption that perfect
knowledge of the robot and the environment are accessible. This
assumption does not hold in the scenarios we are interested in. Only
very recently have innovative approaches to grasping come under
investigation. These approaches also broaden the view of grasping and
include perception and mechanism design as part of the problem.
Nevertheless, the grasping problem, in spite of its centrality in
robotics, remains to large extents unsolved.
- A parallel jaw gripper by Meka, the BarrettHand, and the Meka H2 compliant hand with five degrees-of-freedom.
- © Robotics
We believe the grasping problem can only be solved by
investigating the interactions between its seemingly separate but in
fact highly connected
sub-fields: mechanism design, perception, manipulation, planning, and control. We therefore seek to devise novel grasping methods by exploring the best division between sensing, modeling, manipulation.
Consequently, the concept of interactive perception - tight coupling of perception and action - will play an important role in our grasping research.
- © Robotics
Our approach to grasping is motivated by the
"mitten thought experiment". This experiment illustrates
that a sensory information-deprived subject (blindfolded, wearing a
thick mitten to eliminate tactile feedback) is able to grasp a large
variety of objects reliably by simply closing the hand, provided that
a second experimenter appropriately positioned the object relative to
This thought experiments illustrates that an appropriate perceptual strategy (the experimenter) in conjunction with a simple compliance-based control strategy (the mitten hand) can lead to outstanding grasping performance.
- Links to videos
- © Robotics
We are developing perceptual primitives to directly perceive grasping affordances, sidestepping the difficult issue of explicitly modeling object geometry to then determine those affordances. A grasping affordance is associated with a geometric shape in the environment that matches the geometry of the hand/gripper during a grasp. We can therefore devise perceptual primitives based on knowledge of the grasping capabilities of the hand.
Contact: Clemens Eppner 
- © AvH
Alexander von Humboldt professorship  - awarded by
the Alexander von Humboldt foundation  and funded through the
Ministry of Education and Research, BMBF ,
July 2009 - June 2014
- © EC
- © First MM
Flexible Skill Acquisitionen and
Intuitive Robot Tasking for Mobile Manipulation in the Real World 
(First MM ) - funded by European Commision , in the program
Cognitive Systems and Robotics ,
award number FP7-ICT-248258,
February 2010 - July 2013