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A quality measure for compliant grasps

Lin, Qiao and Burdick, Joel and Rimon, Elon (1997) A quality measure for compliant grasps. In: Proceedings of 1997 International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 86-92. ISBN 0-7803-3612-7.

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This paper presents a systematic approach for quantifying the quality of compliant grasps. Appropriate tangent and cotangent subspaces to the object's configuration space are studied, from which frame-invariant characteristic compliance parameters are defined. Physical and geometric interpretations are given to these parameters, and a practically meaningful method is proposed to make the parameters comparable. A frame-invariant quality measure is then defined, and grasp optimization using this quality measure is discussed with examples.

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Additional Information:© 1997 IEEE.
Record Number:CaltechAUTHORS:20190612-153530945
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Official Citation:Q. Lin, J. Burdick and E. Rimon, "A quality measure for compliant grasps," Proceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 86-92 vol.1. doi: 10.1109/ROBOT.1997.620020
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96348
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:31
Last Modified:16 Nov 2021 17:20

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