Uncertainty and heuristics for underactuated hands: grasp pose selection based on the ppotential grasp robustness metric

Abstract The Potential Grasp Robustness (PGR) metric considers different states of the contact points, relaxing the requirement of all points being far from the friction cone boundary. The addition of new states for each contact point increases the computational complexity, which is combinatorial on...

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Bibliographic Details
Main Authors: Luís Almeida, Plinio Moreno
Format: Article
Language:English
Published: Springer 2021-05-01
Series:SN Applied Sciences
Subjects:
Online Access:https://doi.org/10.1007/s42452-021-04594-5