contact and grasp robustness measures: Analysis and experiments [chapter]

Domenico Prattichizzo, John Kenneth Salisbury, Antonio Bicchi
Experimental Robotics IV  
In 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 brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for the latter. Some experimental results on a simple gripper, the so called Instrumented Talon", are reported as an illustration.
doi:10.1007/bfb0035199 dblp:conf/iser/PrattichizzoSB95 fatcat:pdqbqpf66fdp7e26u6wlwdxe2a