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A method for grasp evaluation based on disturbance force rejection
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control. (System Identification Group)ORCID iD: 0000-0002-1927-1690
2006 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, Vol. 22, no 3, 461-469 p.Article in journal (Refereed) Published
Abstract [en]

This paper presents a method for grasp evaluation. It is based on the ability of the grasp to reject disturbance forces. The procedure takes the geometry of object into account, and it is also possible to incorporate task-oriented information. The evaluation criterion is formulated as a min-max optimization problem, for which an efficient algorithm is proposed and analyzed. The result of this algorithm is independent of scale and choice of reference frame, and can easily be visualized as a surface in the force space. The method is illustrated with several examples.

Place, publisher, year, edition, pages
IEEE , 2006. Vol. 22, no 3, 461-469 p.
Keyword [en]
grasp stability, grasping, planning, robot hands
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-26573DOI: 10.1109/TRO.2006.870665ISI: 000238360200004ScopusID: 2-s2.0-33745137800OAI: diva2:380383
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002) LAUSANNE, SWITZERLAND, SEP 30-OCT 04, 2002
© 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20101221. Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002). LAUSANNE, SWITZERLAND. SEP 30-OCT 04, 2002 Available from: 2012-01-18 Created: 2010-11-25 Last updated: 2013-09-05Bibliographically approved

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