Optimal grasping based on non-dimensionalized performance indices
- Title
- Optimal grasping based on non-dimensionalized performance indices
- Author
- 이병주
- Keywords
- Generalized grasping performance index; Multi-fingered hand; Optimal grasp planning
- Issue Date
- 2001-11
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE International Conference on Intelligent Robots and Systems 2001, v. 2, page. 949-956
- Abstract
- For a multi-fingered hand to grasp an object, there are numerous ways to grasp it stably, and thus an optimal grasp planning is necessary to find the optimal grasp point for achieving the objective of the given task. First, we define several grasp indices to evaluate the quality of each feasible grasp. Since the physical meanings of the defined grasp induces are different from each other, it is not easy to combine those indices to identify the optimal grasping. In this paper, we propose a new generalized grasping performance index to represent all of the grasp indices as one measure based on a non-dimensional technique. Through simulations, we show that the proposed optimal grasp planning is resemblant to the physical sense of human grasping.
- URI
- https://ieeexplore.ieee.org/document/976291?arnumber=976291&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/161422
- DOI
- 10.1109/IROS.2001.976291
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML