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Cognitive Architectures: The Dialectics of Agent/Environment Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Human Cognition-Inspired Robotic Grasping

Authors : Marco Monforte, Fanny Ficuciello, Bruno Siciliano

Published in: Cognitive Architectures

Publisher: Springer International Publishing

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Abstract

The hand is one of the most complex and fascinating organs of the human body. We can powerfully squeeze objects, but we are also capable of manipulating them with great precision and dexterity. On the other hand, the arm, with its redundant joints, is in charge of reaching the object by determining the hand pose during preshaping. The complex motion and task execution of the upper-limb system may lead us to think that the control requires a very significant brain effort. As a matter of fact, neuroscience studies demonstrate that humans simplify planning and control using a combination of primitives, which the brain modulates to produce hand configurations and force patterns for the purpose of grasping and manipulating different objects. This concept can be transferred to robotic systems, allowing control within a space of lower dimension. The lower number of parameters characterizing the system allows for embodying the control in machine learning frameworks, reproducing a sort of human-like cognition.

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previous chapter The Architect’s Dilemmas
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Metadata
Title
Human Cognition-Inspired Robotic Grasping
Authors
Marco Monforte
Fanny Ficuciello
Bruno Siciliano
Copyright Year
2019
Book
Cognitive Architectures

Print ISBN: 978-3-319-97549-8

Electronic ISBN: 978-3-319-97550-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-97550-4_6