Research ArticleARTIFICIAL INTELLIGENCE

Vision-based grasp learning of an anthropomorphic hand-arm system in a synergy-based control framework

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Science Robotics  30 Jan 2019:
Vol. 4, Issue 26, eaao4900
DOI: 10.1126/scirobotics.aao4900
  • Table 1 Comparison of grasps obtained with and without force-closure cost function.
    Force-closure cost value
    GraspCost not usedCost used
    Bipodal1.9 × 1078.5 × 105
    Tripodal2.5 × 1073.1 × 106
    Sphere five finger2.7 × 1084.6 × 107
    Cylinder five finger1.9 × 1081.4 × 107

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