Grasp quality evaluation in underactuated robotic hands

2016 ◽  
Author(s):  
Maria Pozzi ◽  
Ashok M. Sundaram ◽  
Monica Malvezzi ◽  
Domenico Prattichizzo ◽  
Maximo A. Roa
Keyword(s):  
Quality Evaluation ◽  
Robotic Hands ◽  
Grasp Quality

Improving grasp quality evaluation

2009 ◽  
Vol 57 (6-7) ◽  
pp. 665-673 ◽  
Author(s):  
Yu Zheng ◽  
Wen-Han Qian
Keyword(s):  
Quality Evaluation ◽  
Grasp Quality

Robotic, Grippers, Grasping, and Grasp Planning

2013 ◽  
pp. 277-300
Author(s):  
Seyed Javad Mousavi ◽  
Ellips Masehian
Keyword(s):  
New Classification ◽  
Robotic Hands ◽  
Grasp Planning ◽  
Force Closure ◽  
Form Closure ◽  
Basic Concepts ◽  
2D And 3D ◽  
Grasp Quality ◽  
Planning Approaches

Utilizing robotic hands for manipulating objects and assembly requires one to deal with problems like immobility, grasp planning, and regrasp planning. This chapter integrates some essential subjects on robotic grasping: the first section presents a concise taxonomy of robotic grippers and hands. Then the basic concepts of grasping are provided, including immobility, form-closure, and force-closure, 2D and 3D grasping, and Coulomb friction. Next, the principles of grasp planning, measures of grasping quality, pre-grasp, stable grasps, and regrasp planning are presented. The chapter presents comparisons for robotic grippers, a new classification of measures of grasp quality, and a new categorization of regrasp planning approaches.

Physically Based Grasp Quality Evaluation Under Pose Uncertainty

2013 ◽  
Vol 29 (6) ◽  
pp. 1424-1439 ◽  
Author(s):  
Junggon Kim ◽  
Kunihiro Iwamoto ◽  
James J. Kuffner ◽  
Yasuhiro Ota ◽  
Nancy S. Pollard
Keyword(s):  
Quality Evaluation ◽  
Physically Based ◽  
Grasp Quality

scholarly journals Physically-based grasp quality evaluation under uncertainty

2012 ◽  
Author(s):  
Junggon Kim ◽  
Kunihiro Iwamoto ◽  
James J. Kuffner ◽  
Yasuhiro Ota ◽  
Nancy S. Pollard
Keyword(s):  
Quality Evaluation ◽  
Physically Based ◽  
Grasp Quality
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