Grasp quality measures: review and performance
Identifieur interne : 001184 ( Main/Exploration ); précédent : 001183; suivant : 001185Grasp quality measures: review and performance
Auteurs : Máximo A. Roa [Allemagne] ; Raúl Suárez [Espagne]Source :
- Autonomous Robots [ 0929-5593 ] ; 2014.
Abstract
The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.
Url:
DOI: 10.1007/s10514-014-9402-3
PubMed: 26074671
PubMed Central: 4457357
Affiliations:
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Grasp quality measures: review and performance</title><author><name sortKey="Roa, Maximo A" sort="Roa, Maximo A" uniqKey="Roa M" first="Máximo A." last="Roa">Máximo A. Roa</name><affiliation wicri:level="1"><nlm:aff id="Aff1">Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling</wicri:regionArea><wicri:noRegion>82234 Wessling</wicri:noRegion><wicri:noRegion>82234 Wessling</wicri:noRegion><wicri:noRegion>82234 Wessling</wicri:noRegion></affiliation></author><author><name sortKey="Suarez, Raul" sort="Suarez, Raul" uniqKey="Suarez R" first="Raúl" last="Suárez">Raúl Suárez</name><affiliation wicri:level="2"><nlm:aff id="Aff2">Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona</wicri:regionArea><placeName><region nuts="2" type="communauté">Catalogne</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">26074671</idno><idno type="pmc">4457357</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4457357</idno><idno type="RBID">PMC:4457357</idno><idno type="doi">10.1007/s10514-014-9402-3</idno><date when="2014">2014</date><idno type="wicri:Area/Pmc/Corpus">000741</idno><idno type="wicri:Area/Pmc/Curation">000741</idno><idno type="wicri:Area/Pmc/Checkpoint">000C16</idno><idno type="wicri:Area/Ncbi/Merge">003A02</idno><idno type="wicri:Area/Ncbi/Curation">003A02</idno><idno type="wicri:Area/Ncbi/Checkpoint">003A02</idno><idno type="wicri:doubleKey">0929-5593:2014:Roa M:grasp:quality:measures</idno><idno type="wicri:Area/Main/Merge">001188</idno><idno type="wicri:Area/Main/Curation">001184</idno><idno type="wicri:Area/Main/Exploration">001184</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Grasp quality measures: review and performance</title><author><name sortKey="Roa, Maximo A" sort="Roa, Maximo A" uniqKey="Roa M" first="Máximo A." last="Roa">Máximo A. Roa</name><affiliation wicri:level="1"><nlm:aff id="Aff1">Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea>Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling</wicri:regionArea><wicri:noRegion>82234 Wessling</wicri:noRegion><wicri:noRegion>82234 Wessling</wicri:noRegion><wicri:noRegion>82234 Wessling</wicri:noRegion></affiliation></author><author><name sortKey="Suarez, Raul" sort="Suarez, Raul" uniqKey="Suarez R" first="Raúl" last="Suárez">Raúl Suárez</name><affiliation wicri:level="2"><nlm:aff id="Aff2">Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona, Spain</nlm:aff><country xml:lang="fr">Espagne</country><wicri:regionArea>Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona</wicri:regionArea><placeName><region nuts="2" type="communauté">Catalogne</region></placeName></affiliation></author></analytic><series><title level="j">Autonomous Robots</title><idno type="ISSN">0929-5593</idno><idno type="eISSN">1573-7527</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article reviews the quality measures proposed in the literature to evaluate grasp quality. The quality measures are classified into two groups according to the main aspect they evaluate: location of contact points on the object and hand configuration. The approaches that combine different measures from the two previous groups to obtain a global quality measure are also reviewed, as well as some measures related to human hand studies and grasp performance. Several examples are presented to illustrate and compare the performance of the reviewed measures.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Aleotti, J" uniqKey="Aleotti J">J Aleotti</name></author><author><name sortKey="Caselli, S" uniqKey="Caselli S">S Caselli</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Balasubramanian, R" uniqKey="Balasubramanian R">R Balasubramanian</name></author><author><name sortKey="Xu, L" uniqKey="Xu L">L Xu</name></author><author><name sortKey="Brook, Pd" uniqKey="Brook P">PD Brook</name></author><author><name sortKey="Smith, Jr" uniqKey="Smith J">JR Smith</name></author><author><name sortKey="Matsuoka, Y" uniqKey="Matsuoka Y">Y Matsuoka</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Bekey, G" uniqKey="Bekey G">G Bekey</name></author><author><name sortKey="Liu, H" uniqKey="Liu H">H 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Yoshikawa</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Yoshikawa, T" uniqKey="Yoshikawa T">T Yoshikawa</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Yoshikawa, T" uniqKey="Yoshikawa T">T Yoshikawa</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Zheng, Y" uniqKey="Zheng Y">Y Zheng</name></author><author><name sortKey="Qian, W" uniqKey="Qian W">W Qian</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Zhu, X" uniqKey="Zhu X">X Zhu</name></author><author><name sortKey="Wang, J" uniqKey="Wang J">J Wang</name></author></analytic></biblStruct><biblStruct></biblStruct></listBibl></div1></back></TEI><affiliations><list><country><li>Allemagne</li><li>Espagne</li></country><region><li>Catalogne</li></region></list><tree><country name="Allemagne"><noRegion><name sortKey="Roa, Maximo A" sort="Roa, Maximo A" uniqKey="Roa M" first="Máximo A." last="Roa">Máximo A. Roa</name></noRegion></country><country name="Espagne"><region name="Catalogne"><name sortKey="Suarez, Raul" sort="Suarez, Raul" uniqKey="Suarez R" first="Raúl" last="Suárez">Raúl Suárez</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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