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Grasp quality measures: review and performance

Autor
Roa, M.; Suarez, R.
Tipus d'activitat
Article en revista
Revista
Autonomous robots
Data de publicació
2015-01-01
Volum
38
Número
1
Pàgina inicial
65
Pàgina final
88
DOI
https://doi.org/10.1007/s10514-014-9402-3 Obrir en finestra nova
Projecte finançador
Prensión y manipulación diestra, móvil y cooperativa
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistema multi-mano para tareas complejas de manipulación robotizada
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/26723 Obrir en finestra nova
Resum
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 reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures ...
Citació
Roa, M.; Suarez, R. Grasp quality measures: review and performance. "Autonomous robots", 01 Gener 2015, vol. 38, núm. 1, p. 65-88.
Paraules clau
3-D, COMPLIANT GRASPS, EFFICIENT ALGORITHM, FORCE-CLOSURE GRASPS, Grasp quality, Grasping, MANIPULATABILITY, MULTIFINGERED ROBOT HANDS, Manipulation, OPTIMIZATION, POLYGONAL OBJECTS, Robotic hands, STABILITY, WRENCH SPACE
Grup de recerca
SIR - Service and Industrial Robotics

Participants

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