Fabian Heinemann — accepted AI-conference papers

2016

A compact representation of human single-object grasping

Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens

IROS 2016poster

Observations of human grasping reveal that the exploitation of environmental constraints is a key structural aspect for the robustness and versatility of human grasping behavior. We analyze 3,400 human grasping trials with 17 subjects grasping 25 objects to show that viewing environmental constraint…

Cited by 29 Source ↗Scholar ↗

2015

A taxonomy of human grasping behavior suitable for transfer to robotic hands

Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, José Élvarez-Ruiz, Marianne Maertens, Oliver Brock

ICRA 2015poster

As a first step towards transferring human grasping capabilities to robots, we analyzed the grasping behavior of human subjects. We derived a taxonomy in order to adequately represent the observed strategies. During the analysis of the recorded data, this classification scheme helped us to obtain a…

Cited by 37 Source ↗Scholar ↗