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Grasp Quality Measures: Review and Performance

Roa, Maximo A. and Suarez, Raul (2014) Grasp Quality Measures: Review and Performance. Autonomous Robots, 38 (1), pp. 65-88. Springer. DOI: 10.1007/s10514-014-9402-3 ISSN 0929-5593

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Official URL: http://link.springer.com/article/10.1007%2Fs10514-014-9402-3#


The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.

Item URL in elib:https://elib.dlr.de/93722/
Document Type:Article
Title:Grasp Quality Measures: Review and Performance
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Suarez, Raulraul.suarez (at) upc.eduUNSPECIFIED
Date:31 July 2014
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1007/s10514-014-9402-3
Page Range:pp. 65-88
Keywords:grasping, manipulation, robotic hands, grasp quality
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: Roa Garzon, Dr. Máximo Alejandro
Deposited On:07 Jan 2015 13:58
Last Modified:06 Sep 2019 15:18

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