The complexities of grasping in the wild
Name
Humanoids2017.pdf
Size
3.62 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Nakamura, Yuzuko C.
Troniak, Daniel M.
Mason, Matthew T.
Pollard, Nancy S.
Rodriguez Garcia, Alberto
Date Issued
January 2018
Journal
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Nakamura, Yuzuko C., Daniel M. Troniak, Alberto Rodriguez, Matthew T. Mason, and Nancy S. Pollard. “The Complexities of Grasping in the Wild.” 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 15-17 November, 2017, Birmingham, UK, IEEE, 2017.
Version
Author's final manuscript
Abstract
The recent ubiquity of high-framerate (120 fps and higher) handheld cameras creates the opportunity to study human grasping at a greater level of detail than normal speed cameras allow. We first collected 91 slow-motion interactions with objects in a convenience store setting. We then annotated the actions through the lenses of various existing manipulation taxonomies. We found manipulation, particularly the process of forming a grasp, is complicated and proceeds quickly. Our dataset shows that there are many ways that people deal with clutter in order to form a strong grasp of an object. It also reveals several errors and how people recover from them. Though annotating motions in detail is time-consuming, the annotation systems we used nevertheless leave out important aspects of understanding manipulation actions, such as how the environment is functioning as a 'finger' of sorts, how different parts of the hand can be involved in different grasping tasks, and high-level intent.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/HUMANOIDS.2017.8246880
