Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and...

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Bibliographic Details
Main Authors: Dong, Huixu, Qiu, Chen, Prasad, Dilip K., Pan, Ye, Dai, Jiansheng, Chen, I-Ming
Other Authors: Robotics Research Centre
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/144591
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Institution: Nanyang Technological University
Language: English

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