NDLI: An Efficient Algorithm for a Grasp Quality Measure

Content Provider	IEEE Xplore Digital Library
Author	Zheng, Y.
Copyright Year	2004
Abstract	This paper presents an efficient algorithm to compute the minimum of the largest wrenches that a grasp can resist over all wrench directions with limited contact forces, which equals the minimum distance from the origin of the wrench space to the boundary of a grasp wrench set. This value has been used as an important grasp quality measure in optimal grasp planning for over two decades, but there has been no efficient way to compute it until now. The proposed algorithm starts with a polytope containing the origin in the grasp wrench set and iteratively grows it such that the minimum distance from the origin to the boundary of the polytope quickly converges to the aforementioned value. The superior efficiency and accuracy of this algorithm over the previous methods have been verified through theoretical and numerical comparisons.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	579
Ending Page	585
Page Count	7
File Size	995217
File Format	PDF
ISSN	15523098
Volume Number	29
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Vectors Planning Friction Force measurement Approximation algorithms Complexity theory wrench Distance force closure grasp quality grasping support function
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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