Monday, October 10, 2016 - 12:00pm to 1:00pm
Location:Traffic21 Classroom 6501 Gates & Hillman Centers
Speaker:YUZUKO NAKAMURA, Ph.D. Student http://www.cs.cmu.edu/~ynakamur/
In daily life, humans often make use of both hands simultaneously (bimanual manipulation). However, it is not known how often people use bimanual manipulation or what factors cause them to use two hands.
In our work, we focus on the simple task of grasping. In particular, we investigate the effect of object size, weight, and position as well as the presence of a balance requirement on whether bimanual grasping is used in a bowl-moving task. Grasp poses are also collected and analyzed. We find that position and balance have a strong effect on bimanual usage, and weight has a weaker effect. Size, weight, and balance (but not position) affect the pose used to grasp the bowls. We conclude that the choice of strategy is most likely determined by stability requirements and the desire to minimize both body rotation and the need to reach across the body.
Finally, I discuss applications of this work to computer graphics and robotics.
Presented in Partial Fulfillment of the CSD Speaking Skills Requirement.