Fig. 6: Experimental results from a contact rich grasping task off a tabletop surface, showcasing the motion, successes, and categorization of grasp types against the object geometry and between the robot and a human.
From: Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation
A Key frames overlayed with wrist motion (blue arrow), finger motion (red arrow), and new contact regions (pink shade) for the human and robot grasping an object off the table. The number of waypoints for the wrist or hand illustrated underneath the frames. B Objects used for this experiment with failed trials indicated by red circles above the image. C Five grasps identified between the human and robot. D Object geometry plotted with the color indicating the grasp type observed. E Direct comparison between robot and human grasps for every object.
