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Grasp Quality Evaluation in Underactuated Robotic Hands

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/
Document Type:Conference or Workshop Item (Speech)
Title:Grasp Quality Evaluation in Underactuated Robotic Hands
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Pozzi, Mariapozzi (at) diism.unisi.itUNSPECIFIED
Meenakshi Sundaram, AshokAshok.MeenakshiSundaram (at) dlr.deUNSPECIFIED
Malvezzi, Monicamalvezzi (at) diism.unisi.itUNSPECIFIED
Prattichizzo, Domenicoprattichizzo (at) diism.unisi.itUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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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