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Grasp quality measures

Author
Suarez, R.; Cornellà, J.; Garzón, R.
Type of activity
Report
Date
2006-04
Code
IOC-DT-P-2006-10
URL
http://hdl.handle.net/2117/316 Open in new window
Abstract
Grasp synthesis for 3D objects has been tackled with two different approaches: empirical or analytical. The empirical approach (knowledge-based) imitates human grasp using heuristics to choose a grasp shape from a set of basic hand postures. On the other hand, analytic approaches choose the finger positions and the hand configuration with kinematical and dynamical formulations, in general optimizing an objective function such as the grasp stability or the resistance to external perturbations. T...
Group of research
SIR - Service and Industrial Robotics

Participants

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