NDLI: Automatic evaluation of two-fingered grips

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Automatic evaluation of two-fingered grips

Content Provider	IEEE Xplore Digital Library
Author	Barber, J. Volz, R. Desai, R. Rubinfeld, R. Schipper, B. Wolter, J.
Copyright Year	1985
Abstract	Grip determination is essential to any task-level planning process. The complete force/moment equations are presented for grasping employing a rigid two-fingered gripper with a thin elastic layer on the contacting surface. The surface contact is modeled as a linear pressure variation. The quality measure of a grip is taken to be the coefficient of friction needed to keep the held object from slipping between the fingers under applied forces and moments. The lower the coefficient of friction, the better the grip. Incorporation of this evaluation into general grip selection strategy is discussed, and several examples are given.
Starting Page	356
Ending Page	361
Page Count	6
File Size	789075
File Format	PDF
ISSN	08824967
Volume Number	3
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Pattern recognition Robotics and automation Artificial intelligence Layout Friction Intelligent robots TV Psychology Labeling
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Engineering Electrical and Electronic Engineering Computer Science Applications

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