期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2015
卷号：9
期号：1
页码：53
DOI：10.14313/JAMRIS_1-2015/7
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper addresses the problem of grasp synthesis for grasping objects considering both object pose uncer- tainty and object dynamics. These two factors greatly af- fect success or failure in a real-world robo.c grasping and should be considered simultaneously. The proposed approach is based on simula.on of grasping process as- suming that the 3D model of the object is known. Object geometry is modelled using superquadrics. To evaluate grasp quality three di.erent measures are u.lised. The proposed grasp synthesis approach will be implemented and tested on a real robot with mul.-fingered hand.
