Reaching and Grasping: what we can learn from psychology and robotics

Philippe Gaussier 1 Alexandre Pitti 1, 2
2 Neurocybernétique
ETIS - Equipes Traitement de l'Information et Systèmes
Abstract : Grasping an object is an elementary behavior that looks easy for an adult. Yet, grasping an object is still a challenging topic in robotics. Classical approaches consider a sequence of sub tasks ranging from object recognition and localization, the planning of the trajectory to reach this object with the correct orientation and finally the control of the arm movements to grasp securely the object. If this approach has proved to be efficient in simple cases such as reaching a cup on an empty table, a lot of problems remain when the object or the environment is complex. Following, a lot of works have shown the interdependence and even the overlapping between the brain structures involved for real and imagined hand movements . Moreover, some recent works show that the grasping trajectory of an object is impacted by the social environment. Grasping an object in order to give it to somebody else is performed differently than picking it up to place it somewhere else. Even if the deposit place is the same, the global trajectory and especially the preparatory movement to pick the object is different. Hence, our brain is perhaps not planning the grasping as a sequence of elementary and independent subtasks. Such studies on the precise modeling of the human arm control can be found in, but is out of the scope of the present paper.
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Pré-publication, Document de travail
2017
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Soumis le : lundi 9 octobre 2017 - 11:26:52
Dernière modification le : mardi 10 octobre 2017 - 13:34:39

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Philippe Gaussier, Alexandre Pitti. Reaching and Grasping: what we can learn from psychology and robotics. 2017. 〈hal-01609659〉

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