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Automatic Evaluation of Task-Focused Parallel Jaw Gripper Design

  • Adam Wolniakowski
  • Konstantsin Miatliuk
  • Norbert Krüger
  • Jimmy Alison Rytz
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8810)

Abstract

In this paper, we suggest gripper quality metrics that indicate the performance of a gripper given an object CAD model and a task description. Those, we argue, can be used in the design and selection of an appropriate gripper when the task is known. We present three different gripper metrics that to some degree build on existing grasp quality metrics and demonstrate these on a selection of parallel jaw grippers. We furthermore demonstrate the performance of the metrics in three different industrial task contexts.

Keywords

Success Ratio Automatic Evaluation Grasp Target Kinematic Design Grasp Quality 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Adam Wolniakowski
    • 1
  • Konstantsin Miatliuk
    • 1
  • Norbert Krüger
    • 2
  • Jimmy Alison Rytz
    • 2
  1. 1.Automation and Robotics DeptartmentBialystok University of TechnologyPoland
  2. 2.The Maersk Mc-Kinney Moller Institute, Faculty of EngineeringUniversity of Southern DenmarkDenmark

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