Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs
Amin Fakhari,Aditya Patankar,Jiayin Xie,Nilanjan Chakraborty,Amin Fakhari,Aditya Patankar,Jiayin Xie,Nilanjan Chakraborty
Evaluating a grasp generated by a set of hand-object contact locations is a key component of many grasp planning algorithms. In this paper, we present a novel second-order cone program (SOCP) based optimization formulation for evaluating a grasps’ ability to apply wrenches to generate a linear motion along a given direction and/or an angular motion about the given direction. Our quality measure ca...
