Task-oriented optimal grasp configurations for multifingered robotic hands

다지 로봇손의 작업에 따라는 최적 파지 형상

An optimal graspiftg algorithms for a multifingered robotic hand is proposed, where a new quality measure is developed to evaluate task-oriented as well as stability by modelling the tasks as ellipsoids. To show the validities of the proposed algorithm, several numerical examples are presented by employing a 3-fingered robotic hand.