DocumentCode
2236727
Title
Ranking planar grasp configurations for a three-finger hand
Author
Chinellato, Eris ; Fisher, Robert B. ; Morales, Antonio ; Del Pobil, Ángel P.
Author_Institution
Sch. of Informatics, Edinburgh Univ., UK
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1133
Abstract
This paper presents and analyses ten criteria that assess the quality of a set of three-finger grips suitable for dextrous manipulation on real 2D parts. The set of candidate hand configurations is the result of a previous process of grasp generation from the object image. The proposed criteria include six that depend on the actual finger configuration of the gripper. The kinematics of the Barrett hand has been used. The criteria are merged to give a global quality value that can be used to select the best grip to execute. Experimental results include tests on stability and the effect of parameter variation.
Keywords
dexterous manipulators; grippers; manipulator kinematics; robot vision; Barrett hand kinematics; dextrous manipulation; gripper; planar grasp configurations; real 2D parts; three-finger hand; Fingers; Friction; Grasping; Grippers; Informatics; Intelligent robots; Kinematics; Stability; Tactile sensors; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241745
Filename
1241745
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