Scale-dependent method for whole arm grasp evaluation

This paper presents a novel scale-dependent method for grasp evaluation based on so-called size ratio (introduced in this paper) and the ability of the grasp to reject disturbance forces. Manipulating large objects, comparable to the robot size is considered. This is the case of a whole arm manipulation (WAM) in which the robot arm can manipulate larger objects as the whole surface is used. In this way task-oriented information is incorporated in proposed grasp evaluation criterion. Examples are presented to demonstrate the validity of the proposed approach.