Contact and Grasp Robustness Measures: Analysis and Experiments
Contact and Grasp Robustness Measures: Analysis and Experiments
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接触和抓握鲁棒性测量：分析和实验
DOI：
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发表时间：
1995
期刊：
影响因子：
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通讯作者：
A. Bicchi
中科院分区：
文献类型：
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作者：
D. Prattichizzo;J. Salisbury;A. Bicchi
在本文中，我们讨论了一些方面的实际评估的质量把握由一个机器人手的物体形状未知，触觉和力传感器的手的感觉反馈的基础上。我们简要地讨论了接触和抓取鲁棒性的概念，指出前者是后者的一个容易计算但过于保守的充分条件。作为一个例子，一些实验结果的一个简单的夹具，所谓的“仪器爪”，报告。
In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic hand on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact and grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so-called “Instrumented Talon”, are reported as an illustration.