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Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning

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TitleIncrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning
Publication TypeJournal Article
Year of Publication2018
AuthorsAverta, G, Angelini, F, Bonilla, M, Bianchi, M, Bicchi, A
JournalIEEE Robotics and Automation Letters
Volume3
Pagination2686-2693
Date PublishedJuly
Keywords19-DoF anthropomorphic hand, Biomechanics, common grasping tasks, compliant joint/mechanism, covariance matrices, experimental covariance matrix, Force, force distribution, grasp planning, Grasping, grippers, hand posture reconstruction, hand-object relative pose, incremental learning algorithm, Jacobian matrices, joint angle covariation patterns, learning (artificial intelligence), minimisation, multifingered hands, pose estimation, postural hand synergies, postural synergies, posture description, principal component analysis, reduced complexity representation, relative statistical weight, Robots, Solid modeling, synergy vectors, Task analysis
DOI10.1109/LRA.2018.2829027
AttachmentSize
PDF icon averta_et_al2018.pdf2.59 MB
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