A quality measure for compliant grasps

Author

Lin, Qiao ; Burdick, Joel ; Rimon, Elon

Author_Institution

Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

86

Abstract

This paper presents a systematic approach for quantifying the quality of compliant grasps. Appropriate tangent and cotangent subspaces to the object´s configuration space are studied, from which frame-invariant characteristic compliance parameters are defined. Physical and geometric interpretations are given to these parameters, and a practically meaningful method is proposed to make the parameters comparable. A frame-invariant quality measure is then defined, and grasp optimization using this quality measure is discussed with examples

Keywords

geometry; manipulators; matrix algebra; quadratic programming; compliant grasps; configuration space; cotangent subspaces; frame-invariant characteristic compliance parameters; frame-invariant quality measure; geometric interpretations; grasp optimization; physical interpretations; quality measure; tangent subspaces; Computational geometry; Fingers; Fixtures; Friction; Mechanical engineering; Solid modeling; Space technology; Springs; Stability; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620020

Filename

620020