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Grasp quality criterion

Grasp quality criterion A triple criterion to evaluate grasp quality◦ T1: minimization of grasp forces◦ T2: maximization of manipulability(Yoshikawa, T., 1994)◦ T3: maximization of distances to joints limitsTuesday, October 19, 20106

Grasp strategy Define C, α, and handorientation Intersection between arandom line of thegrasp plan containing Cand the object surfacegives P1 P2 and P3 calculation isstraight forwardGrasp planeGrasp synthesisTuesday, October 19, 20107