TY - GEN
T1 - Handling shape and contact location uncertainty in grasping two-dimensional planar objects
AU - Christopoulos, Vassilios N.
AU - Schrater, Paul
PY - 2007
Y1 - 2007
N2 - This paper addresses the problem of selecting contact locations for grasping objects in the presence of shape and contact location uncertainty. Focusing on two-dimensional planar objects and two finger grasps for simplicity, we present a principled approach for selecting contact points by analyzing the risk of force closure failure. The key contribution of this paper is the development of a method that incorporates shape uncertainty into grasp stability analysis. We propose a grasp quality metric that can be used to identify stable contact regions in the face of shape and contact location uncertainty. The proposed method successfully distinguishes grasps that are equivalent without uncertainty, and we illustrate the properties of this technique with simulation experiments in two classes of objects.
AB - This paper addresses the problem of selecting contact locations for grasping objects in the presence of shape and contact location uncertainty. Focusing on two-dimensional planar objects and two finger grasps for simplicity, we present a principled approach for selecting contact points by analyzing the risk of force closure failure. The key contribution of this paper is the development of a method that incorporates shape uncertainty into grasp stability analysis. We propose a grasp quality metric that can be used to identify stable contact regions in the face of shape and contact location uncertainty. The proposed method successfully distinguishes grasps that are equivalent without uncertainty, and we illustrate the properties of this technique with simulation experiments in two classes of objects.
UR - http://www.scopus.com/inward/record.url?scp=51349149836&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349149836&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399509
DO - 10.1109/IROS.2007.4399509
M3 - Conference contribution
AN - SCOPUS:51349149836
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1557
EP - 1563
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -