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Contact and Grasp Robustness Measures: Analysis and Experiments

TitleContact and Grasp Robustness Measures: Analysis and Experiments
Publication TypeBook Chapter
Year of Publication1996
AuthorsPrattichizzo, D, Salisbury, JK, Bicchi, A
EditorKhatib, O, Salisbury, K
Book TitleExperimental Robotics-IV
Series TitleLNCIS 223
PublisherSpringer Verlag
CityBerlin Heidelberg, Germany
KeywordsGrasping, Haptics, Robot Hands
AbstractIn this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.