Grasp quality evaluation in underactuated robotic hands
Grasp quality evaluation in underactuated robotic hands
复制标题
欠驱动机器人手的抓取质量评估
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
M. Roa
中科院分区：
文献类型：
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作者：
Maria Pozzi;A. M. Sundaram;M. Malvezzi;D. Prattichizzo;M. Roa
欠驱动和协同驱动的手越来越受到关注，在抓取社区主要是由于他们简单的运动学，内在的顺应性和多功能性，即使在非结构化的情况下抓取物体。评价这种手的抓取能力是一项具有挑战性的任务。本文回顾了一些传统的多指，完全驱动的手的质量措施，并将其应用到欠驱动手的情况下。还提出了针对欠驱动抓取情况的协同驱动手质量指标的扩展。这两种类型的措施的性能进行评估与模拟的例子，最后与他们的主要特点进行了比较讨论。
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.