Grasping a Shape with Uncertain Location
Successful grasp planning requires an appropriate finger placement for which object geometry and location need to be known. Here we investigate how position uncertainty and shape influence the selection of a two-finger pinch grasp. Elliptical cylinders were stereoscopically presented in rapid succession. The position of each cylinder was randomly selected using two orthogonal Gaussian distribution whose orientation changed at each trial. The axes of the elliptical base were a
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