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Spring 2013 GRASP Seminar - Bruno Siciliano, University Of Naples Federico II, "Grasping And Control Of Multi-fingered Hands"
Presenter: Bruno Siciliano (Homepage)
Friday March 29, 2013 from 11:00am to 12:00pm
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 robotics.
Bruno 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.