Planning optimal grasps
Ferrari, C.
Canny, J.
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA;
This paper appears in: Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Publication Date: 12-14 May 1992
On page(s): 2290-2295 vol.3
Meeting Date: 05/12/1992 - 05/14/1992
Location: Nice, France
ISBN: 0-8186-2720-4
References Cited: 7
INSPEC Accession Number: 4399527
Digital Object Identifier: 10.1109/ROBOT.1992.219918
Current Version Published: 2002-08-06
Abstract
The authors address the problem of planning optimal grasps. Two
general optimality criteria that consider the total finger force and the
maximum finger force are introduced and discussed. Their formalization
using various metrics on a space of generalized forces is detailed. The
geometric interpretation of the two criteria leads to an efficient
planning algorithm. An example of its use in a robotic environment
equipped with two-jaw and three-jaw is described
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