Visual Quality Measures for Characterizing Planar Robot Grasps
نویسندگان
چکیده
منابع مشابه
On computing optimal planar grasps
The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by \unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion...
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ژورنال
عنوان ژورنال: IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews)
سال: 2005
ISSN: 1094-6977
DOI: 10.1109/tsmcc.2004.840061