A quality measure for compliant grasps
- 22 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 86-92
- https://doi.org/10.1109/robot.1997.620020
Abstract
This paper presents a systematic approachfor quantifying the quality of compliant grasps. Appropriatetangent and cotangent subspaces to the object's configuration space are studied, from which frameinvariantcharacteristic compliance parameters are defined.Physical and geometric interpretations are given tothese parameters, and a practically meaningful method isproposed to make the parameters comparable. A frameinvariantquality measure is then defined, and grasp optimizationusing this...Keywords
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