Abstract
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.
Highlights
Grasping and manipulation with complex grippers, such as multifingered and/or underactuated hands, is an active research area in robotics
This paper presents a review of the grasp quality measures related to disturbance resistance and dexterity, the first two properties to be considered in analytical grasp synthesis
This paper has presented several grasp quality measures applicable to the synthesis and evaluation of fingertip grasps
Summary
Grasping and manipulation with complex grippers, such as multifingered and/or underactuated hands, is an active research area in robotics. – Soft contact: it allows the application of the same forces as the hard contact plus a torque around the direction normal to the contact boundary This model is valid only for 3D objects (Buss et al 1996; Xydas and Kao 1999). The force and the torque are grouped in a wrench vector ωi = (Fi , τ i /ρ)T , with ρ being a constant that defines the metric of the wrench space Possible choices for this parameter include the object’s radius of gyration and the largest distance from CM to any point on the object’s surface.
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