Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions

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Document typeConference report
Defense date2011
Rights accessOpen Access
Abstract
Independent Contact Regions provide robustness
in front of finger positioning errors during an object grasping.
However, different sources of uncertainty may be present like,
for instance, the friction model used in grasp planning, indetermination
of the friction coefficients, and errors in the model
of the object that affect the positions of the boundary points as
well as the direction normal to the object surface. These sources
have not been previously considered in the computation of the
Independent Contact Regions. This paper discusses how to take
into account these factors when computing the Independent
Contact Regions for discretized objects, i.e. objects described
with a cloud or a mesh of points. The considerations provided
allow a more robust result for application in grasp synthesis
and regrasp planning.
CitationSuárez, R.; Roa, M. Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions. A: IEEE International Conference on Robotics and Automation. "2011 IEEE International Conference on Robotics and Automation". Shangay: 2011, p. 3317-3323.
ISBN978-1-61284-380-3
Publisher versionhttp://www.icra2011.org/
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