Grasp planning: how to choose a suitable task wrench space. Borst, C., Fischer, M., & Hirzinger, G. In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
Grasp planning: how to choose a suitable task wrench space [pdf]Paper  abstract   bibtex   
For the evaluation of grasp quality, different measures have been proposed that are based on wrench spaces. Almost all of them have drawbacks that derive from the non-uniformity of the wrench space, composed of force and torque dimensions. Moreover, many of these approaches are computationally expensive. We address the problem of choosing a proper task wrench space to overcome the problems of the non-uniform wrench space and show how to integrate it in a well-known, high precision and extremely fast computable grasp quality measure.

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