Paper abstract

 Title:   A Quality Measure for Compliant Grasps
 Authors:  Qiao Lin, Elon Rimon, and Joel Burdick
 In:   IEEE Int. Conf. on Robotics and Automation , April 1997.

ABSTRACT:

This paper presents a systematic approach for quantifying the quality of compliant grasps. Apprpriate 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.