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Pozzi, Maria und Meenakshi Sundaram, Ashok und Malvezzi, Monica und Prattichizzo, Domenico und Roa Garzon, Máximo Alejandro (2016) Grasp Quality Evaluation in Underactuated Robotic Hands. In: IEEE International Conference on Intelligent Robots and Systems, Seiten 1946-1953. IEEE. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/IROS.2016.7759307.
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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/109677/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | Grasp Quality Evaluation in Underactuated Robotic Hands | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | Oktober 2016 | ||||||||||||||||||||||||
| Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| DOI: | 10.1109/IROS.2016.7759307 | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 1946-1953 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Grasping, Underactuated Robots, Multifingered Hands | ||||||||||||||||||||||||
| Veranstaltungstitel: | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
| Veranstaltungsort: | Daejeon, Korea | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 9 Oktober 2016 | ||||||||||||||||||||||||
| Veranstaltungsende: | 14 Oktober 2016 | ||||||||||||||||||||||||
| Veranstalter : | IEEE/RSJ | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||||||
| Hinterlegt von: | Meenakshi Sundaram, Ashok | ||||||||||||||||||||||||
| Hinterlegt am: | 20 Dez 2016 11:09 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:14 |
Verfügbare Versionen dieses Eintrags
- Grasp Quality Evaluation in Underactuated Robotic Hands. (deposited 20 Dez 2016 11:09) [Gegenwärtig angezeigt]
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