Characterisation of Grasp Quality Metrics
نویسندگان
چکیده
منابع مشابه
Grasp Quality Computations
Prewious grasp quality research i s main ly theoretical, and has assumed that contact types and positions are given, in order t o preserve the generality of the proposed quality measures. T h e example results provided by these works either ignore hand geometry and kinematics entirely o r involve only the simplest of grippers. W e present a unique grasp analysis sys tem that, when given a 3 0 o...
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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 ...
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متن کاملExamples of 3D Grasp Quality Computations
Previous grasp quality research is mainly theoretical, and has assumed that contact types and positions are given, in order to preserve the generality of the proposed quality measures. The example results provided by these works either ignore hand geometry and kinematics entirely or involve only the simplest of grippers. We present a unique grasp analysis system that, when given a 3D object, ha...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2017
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-017-0562-1