The multi-dimensional quality of task requirements for dextrous robot hand control

The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain