TY - JOUR T1 - Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning JF - IEEE Robotics and Automation Letters Y1 - 2018 A1 - G. Averta A1 - F. Angelini A1 - M. Bonilla A1 - M. Bianchi A1 - A. Bicchi KW - 19-DoF anthropomorphic hand KW - Biomechanics KW - common grasping tasks KW - compliant joint/mechanism KW - covariance matrices KW - experimental covariance matrix KW - Force KW - force distribution KW - grasp planning KW - Grasping KW - grippers KW - hand posture reconstruction KW - hand-object relative pose KW - incremental learning algorithm KW - Jacobian matrices KW - joint angle covariation patterns KW - learning (artificial intelligence) KW - minimisation KW - multifingered hands KW - pose estimation KW - postural hand synergies KW - postural synergies KW - posture description KW - principal component analysis KW - reduced complexity representation KW - relative statistical weight KW - Robots KW - Solid modeling KW - synergy vectors KW - Task analysis VL - 3 ER -