Abstract
There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a manipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to perform a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the model of a real robotic hand.
Work partially supported by the Spanish Government through the projects DPI2013-40882-P and DPI2016-80077-R. F. Soler and A. Rojas-de-Silva—Partially supported by the Mexican CONACyT doctoral grants 410931 and 313768.
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Soler, F., Rojas-de-Silva, A., Suárez, R. (2018). Grasp Quality Measures for Transferring Objects. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham. https://doi.org/10.1007/978-3-319-70836-2_3
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DOI: https://doi.org/10.1007/978-3-319-70836-2_3
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