Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620020
