A quality measure for compliant grasps
نویسندگان
چکیده
| This paper presents a systematic approach for quantifying the quality of compliant grasps. Appropriate tangent and cotangent subspaces to the ob-ject's connguration space are studied, from which frame-invariant characteristic compliance parameters are de-ned. Physical and geometric interpretations are given to these parameters, and a practically meaningful method is proposed to make the parameters comparable. A frame-invariant quality measure is then deened, and grasp optimization using this quality measure is discussed with examples.
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