Planning optimal grasps. Ferrari, C. & Canny, J. In Proceedings 1992 IEEE International Conference on Robotics and Automation, pages 2290–2295 vol.3, May, 1992.
doi  abstract   bibtex   
The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described
@inproceedings{ferrari_planning_1992,
	title = {Planning optimal grasps},
	doi = {10.1109/ROBOT.1992.219918},
	abstract = {The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described},
	booktitle = {Proceedings 1992 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
	author = {Ferrari, C. and Canny, J.},
	month = may,
	year = {1992},
	keywords = {Actuators, Assembly systems, Computer science, Extraterrestrial measurements, Fingers, Grasping, Grippers, Manipulators, Orbital robotics, Robots, computational geometry, force control, geometric interpretation, manipulators, maximum finger force, optimal grasp planning, optimality criteria, optimisation, planning (artificial intelligence), robotics, total finger force},
	pages = {2290--2295 vol.3}
}

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