DocumentCode :
2700229
Title :
Influence of contact types and uncertainties in the computation of Independent Contact Regions
Author :
Roa, Máximo A. ; Suárez, Rául
Author_Institution :
Inst. of Robot. & Mechatron., German Aerosp. Center (DLR e.V.), Wessling, Germany
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
3317
Lastpage :
3323
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.
Keywords :
dexterous manipulators; friction; grippers; mechanical contact; position control; boundary point position; finger positioning error; friction coefficients; friction model; grasp planning; grasp synthesis; independent contact region computation uncertainties; object grasping; regrasp planning; Computational modeling; Force; Friction; Grasping; Planning; Three dimensional displays; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5980334
Filename :
5980334
Link To Document :
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