Human visual servoing for reaching and grasping: the role of 3D geometric features

Abstract

The authors investigated the kinematics of human visually guided prehension in a situation similar to that typically used in visual servo control of autonomous robots. They found that kinematic parameters of the human grasp, such as transport velocity, path, and grip aperture, were determined by the 3-dimensional geometric structure of the target object, not the 2-dimensional projected image of the object. The results of this study have important implications for the design of reliable and efficient control systems for robots with human-like capabilities.