There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a manipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to perform a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the model of a real robotic hand.
CITATION STYLE
Soler, F., Rojas-De-Silva, A., & Suárez, R. (2018). Grasp Quality Measures for Transferring Objects. In Advances in Intelligent Systems and Computing (Vol. 694, pp. 28–39). Springer Verlag. https://doi.org/10.1007/978-3-319-70836-2_3
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