On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands
نویسندگان
چکیده
منابع مشابه
Grasp analysis tools for synergistic underactuated robotic hands
Despite being a classical topic in robotics, the research on dexterous robotic hands still stirs a lively research activity. The current interest is especially attracted by underactuated robotic hands where a high number of degrees of freedom (DoFs), and a relatively low number of degrees of actuation (DoAs) coexist. The correlation between the DoFs obtained through a wise distribution of actua...
متن کاملRobotic Grasp Optimization from Contact Force Analysis
The ability to quantitatively assess grasp performance is essential both in off-line planning of grasps for robotic manipulation as in evaluating on-line executed grasps. Until now most existing metrics rely on force-closure tests that are limited in scope. We propose a grasp quality metric that provides sensible performance criteria even in non-force-closure grasps. It is based in two improvem...
متن کاملContact and Grasp Robustness Measures: Analysis and Experiments
In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for th...
متن کاملGrasp quality measures
The correct grasp of objects is a key aspect for the right fulfillment of a given task. In robotics, the development of grippers more and more complex and versatile, such as mechanical hands, augments the necessity for algorithms to automatically determine grasps, and in a parallel way, arises the need to quantify the quality of the generated grasps in order to optimize them. This work reviews ...
متن کاملGrasp quality measures: review and performance
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article r...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2017
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2016.2612304