Contact and Grasp Robustness Measures: Analysis and Experiments

  title={Contact and Grasp Robustness Measures: Analysis and Experiments},
  author={Domenico Prattichizzo and John Kenneth Salisbury and Antonio Bicchi},
In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic hand on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact and grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so-called “Instrumented Talon”, are reported as an… 

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

This work investigates on grasp robustness and quality indexes that can be applied to power grasps with underactuated and compliant hands, and analyzes their variations with respect to the main grasp parameters.

Hands for Dexterous Manipulation and Powerful Grasping: A Difficult Road Towards Simplicity

In this paper, an attempt at summarizing the evolution and the state-of-the-art in the field of robot hands is made. In such exposition, a critical evaluation of what in the author’s view are the

Evaluation of 3D grasps with physical interpretations using object wrench space

An intuitive and practical grasp quality measure for grasping 3D objects with a multi-fingered robot hand that takes into account the object geometries through the concept of object wrench space is proposed.

Evaluation of grasps for 3D objects with physical interpretations using object wrench space

  • Hyunhwan JeongJ. Cheong
  • Computer Science
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2010
This paper presents a practically useful and intuitive grasp quality measure that takes into account the shapes of object geometries and the torque limits of finger actuators, and demonstrates the validity of the proposed measure through numerical examples.

A stiffness-based quality measure for compliant grasps and fixtures

This paper defines a set of frame-invariant characteristic stiffness parameters, and provides physical and geometric interpretation for these parameters and compute the optimal finger arrangement in several examples, and uses these examples to discuss properties that characterize the stiffness quality measure.

Grasp quality evaluation in underactuated robotic hands

Some traditional quality measures developed for multi-fingered, fully actuated hands are revisited, and the extension of quality metrics for synergy-driven hands for the case of underactuated grasping is presented.

Uncertainty and heuristics for underactuated hands: grasp pose selection based on the ppotential grasp robustness metric

The computational complexity of two recently proposed heuristics, which consider that the minimum number of contact points needed could be in two states, are analysed and a new uncertainty based metric, the coefficient of variation of PGR is proposed.

Grasping with Soft Hands

This paper shows that human use of a simple robot hand can afford capabilities that are comparable to natural grasping, and presents a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations.

Grasp quality measures: review and performance

The quality measures proposed in the literature are reviewed according to the main aspect they evaluate: location of contact points on the object and hand configuration and some measures related to human hand studies and grasp performance are presented.

Grasps and Fixtures

Abstmct- This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general



Task oriented optimal grasping by multifingered robot hands

  • Zexiang LiS. Sastry
  • Computer Science
    Proceedings. 1987 IEEE International Conference on Robotics and Automation
  • 1987
Three quality measures for evaluating a grasp are proposed and one of them is task oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object.

Task-oriented optimal grasping by multifingered robot hands

Three quality measures for evaluating a grasp are proposed and one is task-oriented and needs the development of a procedure for modeling tasks as ellipsoids in the wrench space of the object.

Computing and controlling compliance of a robotic hand

It is shown that coupling between the joints of different fingers is useful in this context and it is argued that the effects of structural compliance and small changes in the grasp geometry should be included in the computation.

Planning optimal grasps

  • C. FerrariJ. Canny
  • Physics
    Proceedings 1992 IEEE International Conference on Robotics and Automation
  • 1992
Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed and the geometric interpretation of the two criteria leads to an efficient planning algorithm.

Analysis of Multifingered Hands

This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure

On the Closure Properties of Robotic Grasping

  • A. Bicchi
  • Materials Science
    Int. J. Robotics Res.
  • 1995
This article proves the equiva lence of force-closure analysis with the study of the equilibria of an ordinary differential equation, to which Lyapunov's di rect method is applied, and proposes an efficient algorithm for assessing the force- closure property of the grasp.

Force distribution in multiple whole-limb manipulation

  • A. Bicchi
  • Engineering
    [1993] Proceedings IEEE International Conference on Robotics and Automation
  • 1993
Robotic systems composed of multiple actuated limbs cooperating in the manipulation of an object and a study of the internal grasping forces, which may be actively controlled to increase grasp stability, are presented.

Dynamics and Stability in Coordination of Multiple Robotic Mechanisms

This paper discusses the dynamical coordination of multiple robot manipulators or a multifingered robot hand and a dynamic coordinative control scheme which guarantees the object stability is proposed, associated with the determination of the resultant forces.

A standard form for the dynamics of general manipulation systems

  • A. BicchiD. Prattichizzo
  • Computer Science
    Proceedings of 1995 IEEE International Conference on Robotics and Automation
  • 1995
A geometric approach to the analysis of the linearized dynamics of robotic manipulation systems is presented, which provides much insight in some of their intrinsic characteristics in the light of classical system-theoretic concepts such as controllability, observability, and canonical forms.

Quantitative Steinitz's theorems with applications to multifingered grasping

The above quantitative form of Steinitz's theorem gives a notion of efficiency for closure grasps for anm-fingered robot hand and presents some efficient algorithms for these problems, especially in the two-dimensional case.