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Spring 2013 GRASP Seminar – Bruno Siciliano, University of Naples Federico II, “Grasping and Control of Multi-fingered Hands”

March 29, 2013 @ 11:00 am - 12:00 pm

Abstract: After a brief tutorial of the research carried
out at PRISMA Lab, along with the highlights from the current projects, the talk reports some recent
results achieved within the framework of the European project DEXMART. An
important issue in controlling a multi-fingered robotic hand grasping an object
is the synthesis of the optimal contact points and the evaluation of the
minimal contact forces able to guarantee the stability of the grasp and its
feasibility. Both these problems can be solved online if suitable sensing
information is available. In detail, using images taken by a camera mounted in
an eye-in-hand configuration, a surface reconstruction algorithm and a grasp
planner evolving in a synchronized parallel way have been designed for fast
visual grasp of objects of unknown geometry. On the other hand, using finger
tactile information and contact force measurements, an efficient algorithm was
developed to compute the optimal contact forces, assuming
that, during the execution of a manipulation task, both the position of the
contact points on the object and the wrench to be balanced by the contact
forces may change with time. Another goal pursued in DEXMART was the
development of a human-like grasping approach inspired to neuroscience studies.
In order to simplify the synthesis of a grasp, a configuration subspace based
on few predominant postural synergies of the robotic hand has been computed.
This approach was evaluated at kinematic level, showing that power and precise
grasps can be performed using up to the third predominant synergy. The talk concludes by outlining active trends and perspectives in the field of


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Siciliano is Professor of Control and Robotics, and Director
of the PRISMA Lab in the Department of Electrical Engineering and Information
Technology at University of Naples Federico II. His research interests include
force and visual control, human-robot interaction and service robotics. He has
co-authored 7 books, 70 journal papers, 170 conference papers and book
chapters. He has delivered 100 invited lectures and seminars at institutions
worldwide, and he has been the recipient of several awards. He is a Fellow of
IEEE, ASME and IFAC. He has served on the editorial boards of several
peer-reviewed journals and has been chair of program and organizing committees
of several international conferences. He is Co-Editor of the Springer Tracts in
Advanced Robotics, and of the Springer Handbook of Robotics, which received the
PROSE Award for Excellence in Physical Sciences & Mathematics and was also
the winner in the category Engineering & Technology. His group has been
granted twelve European projects in the last five years. Professor Siciliano is
the Past-President of the IEEE Robotics and Automation Society.


March 29, 2013
11:00 am - 12:00 pm
Event Category: