Optimal grasping using a multifingered robot hand

摘要

Two different grasp indices, the uncertainty grasp index and the task compatibility grasp index, are proposed as a measure of grasp quality. When a robot hand grasps an object, error can occur due to various uncertainties. The uncertainty grasp index represents the effect of grasp position error on stable grasping. Also, when the hand grasps an object, the object will usually be used to accomplish a task. For such a task-oriented grasp, the hand should grasp an object in such a manner that it is stable and at the same time can accomplish the task most effectively. The task compatibility grasp index is formulated to represent how well the identified grasp can perform the task. An optimization problem is formulated to compute the grasp index, and the solution procedure is also presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>