Posture-Based Motion Planning: Applications to Grasping
This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a constraint hierarchy -a set of prioritized requirements defining the task to be performed. For grasping, constraints include avo...
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| Veröffentlicht in: | Psychological review 2001-10, Vol.108 (4), p.709-734 |
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| container_title | Psychological review |
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| creator | Rosenbaum, David A Meulenbroek, Ruud J Vaughan, Jonathan Jansen, Chris |
| description | This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a
constraint hierarchy
-a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model. |
| doi_str_mv | 10.1037/0033-295X.108.4.709 |
| format | Article |
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constraint hierarchy
-a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model.</description><identifier>ISSN: 0033-295X</identifier><identifier>EISSN: 1939-1471</identifier><identifier>DOI: 10.1037/0033-295X.108.4.709</identifier><identifier>PMID: 11699114</identifier><identifier>CODEN: PSRVAX</identifier><language>eng</language><publisher>Washington, DC: American Psychological Association</publisher><subject>Activity levels. Psychomotricity ; Attention ; Biological and medical sciences ; Cognitive Processes ; Distance Perception ; Fundamental and applied biological sciences. Psychology ; Grasping ; Hierarchy ; Human ; Human body ; Humans ; Intelligence ; Kinesthesis ; Knowledge ; Mental Recall ; Motion control ; Motor Processes ; Object ; Orientation ; Posture ; Psychology ; Psychology. Psychoanalysis. Psychiatry ; Psychology. Psychophysiology ; Psychomotor activities ; Psychomotor Performance ; Psychophysics</subject><ispartof>Psychological review, 2001-10, Vol.108 (4), p.709-734</ispartof><rights>2001 American Psychological Association</rights><rights>2001 INIST-CNRS</rights><rights>Copyright American Psychological Association Oct 2001</rights><rights>2001, American Psychological Association</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-a546t-f6f8f431f670a4f643a96b2639361aff2db4a687f6b042cbdf0773c51c54e6963</citedby><cites>FETCH-LOGICAL-a546t-f6f8f431f670a4f643a96b2639361aff2db4a687f6b042cbdf0773c51c54e6963</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27923,27924</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=1132950$$DView record in Pascal Francis$$Hfree_for_read</backlink><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/11699114$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Rosenbaum, David A</creatorcontrib><creatorcontrib>Meulenbroek, Ruud J</creatorcontrib><creatorcontrib>Vaughan, Jonathan</creatorcontrib><creatorcontrib>Jansen, Chris</creatorcontrib><title>Posture-Based Motion Planning: Applications to Grasping</title><title>Psychological review</title><addtitle>Psychol Rev</addtitle><description>This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a
constraint hierarchy
-a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model.</description><subject>Activity levels. Psychomotricity</subject><subject>Attention</subject><subject>Biological and medical sciences</subject><subject>Cognitive Processes</subject><subject>Distance Perception</subject><subject>Fundamental and applied biological sciences. Psychology</subject><subject>Grasping</subject><subject>Hierarchy</subject><subject>Human</subject><subject>Human body</subject><subject>Humans</subject><subject>Intelligence</subject><subject>Kinesthesis</subject><subject>Knowledge</subject><subject>Mental Recall</subject><subject>Motion control</subject><subject>Motor Processes</subject><subject>Object</subject><subject>Orientation</subject><subject>Posture</subject><subject>Psychology</subject><subject>Psychology. Psychoanalysis. Psychiatry</subject><subject>Psychology. 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Psychomotricity</topic><topic>Attention</topic><topic>Biological and medical sciences</topic><topic>Cognitive Processes</topic><topic>Distance Perception</topic><topic>Fundamental and applied biological sciences. Psychology</topic><topic>Grasping</topic><topic>Hierarchy</topic><topic>Human</topic><topic>Human body</topic><topic>Humans</topic><topic>Intelligence</topic><topic>Kinesthesis</topic><topic>Knowledge</topic><topic>Mental Recall</topic><topic>Motion control</topic><topic>Motor Processes</topic><topic>Object</topic><topic>Orientation</topic><topic>Posture</topic><topic>Psychology</topic><topic>Psychology. Psychoanalysis. Psychiatry</topic><topic>Psychology. Psychophysiology</topic><topic>Psychomotor activities</topic><topic>Psychomotor Performance</topic><topic>Psychophysics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Rosenbaum, David A</creatorcontrib><creatorcontrib>Meulenbroek, Ruud J</creatorcontrib><creatorcontrib>Vaughan, Jonathan</creatorcontrib><creatorcontrib>Jansen, Chris</creatorcontrib><collection>Pascal-Francis</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>International Bibliography of the Social Sciences (IBSS)</collection><collection>International Bibliography of the Social Sciences</collection><collection>International Bibliography of the Social Sciences</collection><collection>APA PsycArticles®</collection><collection>ProQuest One Psychology</collection><collection>MEDLINE - Academic</collection><jtitle>Psychological review</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Rosenbaum, David A</au><au>Meulenbroek, Ruud J</au><au>Vaughan, Jonathan</au><au>Jansen, Chris</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Posture-Based Motion Planning: Applications to Grasping</atitle><jtitle>Psychological review</jtitle><addtitle>Psychol Rev</addtitle><date>2001-10</date><risdate>2001</risdate><volume>108</volume><issue>4</issue><spage>709</spage><epage>734</epage><pages>709-734</pages><issn>0033-295X</issn><eissn>1939-1471</eissn><coden>PSRVAX</coden><abstract>This article describes a model of motion planning instantiated for grasping. According to the model, one of the most important aspects of motion planning is establishing a
constraint hierarchy
-a set of prioritized requirements defining the task to be performed. For grasping, constraints include avoiding collisions with to-be-grasped objects and minimizing movement-related effort. These and other constraints are combined with instance retrieval (recall of stored postures) and instance generation (generation of new postures and movements to them) to simulate flexible prehension. Dynamic deadline setting is used to regulate termination of instance generation, and performance of more than one movement at a time with a single effector is used to permit obstacle avoidance. Old and new data are accounted for with the model.</abstract><cop>Washington, DC</cop><pub>American Psychological Association</pub><pmid>11699114</pmid><doi>10.1037/0033-295X.108.4.709</doi><tpages>26</tpages></addata></record> |
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| ispartof | Psychological review, 2001-10, Vol.108 (4), p.709-734 |
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| subjects | Activity levels. Psychomotricity Attention Biological and medical sciences Cognitive Processes Distance Perception Fundamental and applied biological sciences. Psychology Grasping Hierarchy Human Human body Humans Intelligence Kinesthesis Knowledge Mental Recall Motion control Motor Processes Object Orientation Posture Psychology Psychology. Psychoanalysis. Psychiatry Psychology. Psychophysiology Psychomotor activities Psychomotor Performance Psychophysics |
| title | Posture-Based Motion Planning: Applications to Grasping |
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