Low-Dimensional Data-Driven Grasping
نویسندگان
چکیده
In general, automatic grasp synthesis can be thought of the task of finding the combination of hand posture (intrinsic degrees of freedom, or DOF’s) and position (extrinsic DOF’s) that produces a stable grasp, according to a given grasp quality metric. From this perspective, it can be approached as an optimization problem, seeking to maximize the value of the grasp quality Q expressed as a function over a highdimensional domain:
منابع مشابه
Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation
Low-Dimensional Robotic Grasping: Eigengrasp Subspaces and Optimized Underactuation
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