Chapter 40 — Mobility and Manipulation

Exploitation of environmental constraints in human and robotic grasping

We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present evidence for this view by showing robust robotic grasping based on constraint-exploiting grasp strategies, and we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.
Clemens Eppner, Raphael Deimel, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock