Informatics Report Series


Report   

EDI-INF-RR-0778


Related Pages

Report (by Number) Index
Report (by Date) Index
Author Index
Institute Index

Home
Title:Ranking Planar Grasp Configurations For A Three-Finger Hand
Authors: Eris Chinellato ; Robert Fisher ; Antonio Morales ; Angel del Pobil
Date: 2003
Publication Title:Proc. Int. Conf. on Robotics and Automation
Publication Type:Conference Paper
Page Nos:1133-1138
Abstract:
This paper presents and analyses then criteria that assess the quality of a set of three-finger grips suitable for dextrous manipulation on real 2D parts. The set of candidate hand configurations is the result of a previous process of grasp generation from the object image. The proposed criteria include six that depend on the actual finger configuration of the gripper. The kinematics of the Barrett Hand has been used. The criteria are merged to give a global quality value that can be used to select the best grip to execute. Experimental results include tests on stability and the effect of parameter variation.
Copyright:
Copyright 2003 IEEE. Reprinted from Proc. Int. Conf. on Robotics and Automation, pp 1133-1138, 2003.
This material is posted here with permission of the IEEE.Such permission of the IEEE does not in any way imply IEEE endorsement of any of Edinburgh's products or services. Internal or personal use of thismaterial is permitted. However, permission to reprint/republish this materialfor advertising or promotional purposes or for creating new collective worksfor resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Links To Paper
No links available
Bibtex format
@InProceedings{EDI-INF-RR-0778,
author = { Eris Chinellato and Robert Fisher and Antonio Morales and Angel del Pobil },
title = {Ranking Planar Grasp Configurations For A Three-Finger Hand},
book title = {Proc. Int. Conf. on Robotics and Automation},
year = 2003,
pages = {1133-1138},
}


Home : Publications : Report 

Please mail <reports@inf.ed.ac.uk> with any changes or corrections.
Unless explicitly stated otherwise, all material is copyright The University of Edinburgh