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...
Main Authors: | , |
---|---|
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 |