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Optimized planar grasping synthesis algorithm for multi-fingered robotic hand

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2 Author(s)
Ze Yu ; Department of Electrical & Computer Engineering Dalhousie University Halifax, Nova Scotia, B3H 1Z1, Canada ; Jason Gu

Grasp synthesis for multi-fingered robotic hand has drawn a lot of attention in the past a few years. How to find all feasible grasp candidates and how to evaluate those to find the best one are two mains topics in this field. In this paper, we proposed an optimized algorithm for searching grasp/hand configuration on planar objects and modified a set of quality measure criteria to rank all the grip candidates that can be found.

Published in:

2009 IEEE International Conference on Automation and Logistics

Date of Conference:

5-7 Aug. 2009