Raptors-inroads to multifingered grasping

摘要

We consider the grasping and manipulation strategies of raptors, focusing on the particularly successful case of the osprey. The osprey makes superb use of its two four-digit feet, each of which has five degrees of freedom. As manipulation strategies exploit not only quasistatic but also dynamic grasping, particularly in fishing, for which the bird is highly renowned. We investigate the unusual kinematic design of the osprey foot, and consider the capabilities of the foot for achieving stable grasps. We also perform a dynamic analysis of the osprey in fishing, where the talons dynamically impact the fish. Implications for robot hand design and dynamic grasping are discussed.