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Pozzi, Maria and Meenakshi Sundaram, Ashok and Malvezzi, Monica and Prattichizzo, Domenico and Roa Garzon, Máximo Alejandro (2016) Grasp Quality Evaluation in Underactuated Robotic Hands. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1946-1953. IEEE. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 9-14 Oct 2016, Daejeon, Korea. doi: 10.1109/IROS.2016.7759307.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/109677/ | ||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||
| Title: | Grasp Quality Evaluation in Underactuated Robotic Hands | ||||||||||||||||||
| Authors: |
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| Date: | October 2016 | ||||||||||||||||||
| Journal or Publication Title: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||
| Open Access: | No | ||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||
| DOI : | 10.1109/IROS.2016.7759307 | ||||||||||||||||||
| Page Range: | pp. 1946-1953 | ||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||
| Status: | Published | ||||||||||||||||||
| Keywords: | Grasping, Underactuated Robots, Multifingered Hands | ||||||||||||||||||
| Event Title: | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||
| Event Location: | Daejeon, Korea | ||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||
| Event Dates: | 9-14 Oct 2016 | ||||||||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||
| DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||||||||||||||
| Deposited By: | Meenakshi Sundaram, Ashok | ||||||||||||||||||
| Deposited On: | 20 Dec 2016 11:09 | ||||||||||||||||||
| Last Modified: | 12 Dec 2017 21:57 |
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- Grasp Quality Evaluation in Underactuated Robotic Hands. (deposited 20 Dec 2016 11:09) [Currently Displayed]
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