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Evaluation of 3D grasps with physical interpretations using object wrench space

Published online by Cambridge University Press:  11 July 2011

Hyunhwan Jeong  and
Joono Cheong
Hyunhwan Jeong
Affiliation:
Department of Control and Instrumentation Engineering, Korea University, Chungnam, South Korea
Joono Cheong*
Affiliation:
Department of Control and Instrumentation Engineering, Korea University, Chungnam, South Korea
*
*Corresponding author. E-mail: jncheong@korea.ac.kr
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Summary

In this paper we propose an intuitive and practical grasp quality measure for grasping 3D objects with a multi-fingered robot hand. The proposed measure takes into account the object geometries through the concept of object wrench space. Physically, the positive measure value has a meaning of the minimum single disturbance that grasp cannot resist, while the negative measure value implies the minimum necessary helping force that restores a non-force-closure grasp into a force-closure one. We show that the measure value is invariant between similar grasps and also between different torque origins. We verify the validity of the proposed measure via simulations by using computer models of a three-fingered robot hand and polygonal objects.

Keywords

Grasp measureRobot handForce-closureObject wrench space
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 405 - 417
Copyright
Copyright © Cambridge University Press 2011

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