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Grasp Quality Evaluation in Underactuated Robotic Hands

  • Underactuated and synergy-driven hands are gaining attention in the grasping community mainly due to their simple kinematics, intrinsic compliance and versatility for grasping objects even in non structured scenarios. The evaluation of the grasping capabilities of such hands is a challenging task. This paper revisits some traditional quality measures developed for multi-fingered, fully actuated hands, and applies them to the case of underactuated hands. The extension of quality metrics for synergy-driven hands for the case of underactuated grasping is also presented. The performance of both types of measures is evaluated with simulated examples, concluding with a comparative discussion of their main features.

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Metadaten
Document Type:Conference Object
Language:English
Author:Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Máximo A. Roa
Parent Title (English):2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea
First Page:1946
Last Page:1953
ISBN:978-1-5090-3762-9
DOI:https://doi.org/10.1109/IROS.2016.7759307
Publisher:IEEE
Publication year:2016
Tag:Actuators; Force; Friction; Grasping; Q measurement; Robustness; robots
Departments, institutes and facilities:Fachbereich Informatik
Entry in this database:2017/01/06