Loading...
Loading...

Go to the content (press return)

Grasp quality measures for transferring objects

Author
Soler, F.; Rojas-de-Silva, A.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
Third Iberian Robotics Conference
Date of publication
2017
Presentation's date
2017-11-23
Book of congress proceedings
ROBOT 2017: Third Iberian Robotics Conference: volume 2
First page
28
Last page
39
Publisher
Springer
DOI
https://doi.org/10.1007/978-3-319-70836-2_3 Open in new window
Project funding
Autonomous dexterous robots as coworkers with human operators
Prensión y manipulación diestra, móvil y cooperativa
Repository
http://hdl.handle.net/2117/115943 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-319-70836-2_3 Open in new window
Abstract
There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to per- form a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the ...
Citation
Soler, F., Rojas-de-Silva, A., Suarez, R. Grasp quality measures for transferring objects. A: Iberian Robotics Conference. "ROBOT 2017: Third Iberian Robotics Conference, vol. 1". Berlín: Springer, 2017, p. 28-39.
Keywords
Grasping, grasp quality measures, transfer manipulation.
Group of research
SIR - Service and Industrial Robotics

Participants

  • Soler, Fernando  (author and speaker )
  • Rojas-de-Silva, Abiud  (author and speaker )
  • Suarez Feijoo, Raul  (author and speaker )