Task-oriented accuracy measure for dexterous manipulation

The present paper proposes a novel quality measure for choosing a grasp with high task accuracy to achieve a specified task. In precision manipulation tasks such as a peg-in-hole insertion, the task accuracy required for each direction in the task space is different. It is required to choose the grasp which meets with specified task requirements. According to the linear system theory, the task-oriented accuracy measure is derived by using the singular values of the output controllability matrix for the manipulation system. The usefulness of the proposed quality measure are shown by two simulations concerning a peg-in-hole insertion task and a baton twirling.