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Influence of contact types and uncertainties in the computation of independent contact regions

Roa, Maximo A. and Suarez, Raul (2011) Influence of contact types and uncertainties in the computation of independent contact regions. 2011 IEEE International Conference on Robotics and Automation - ICRA, 9 - 13 May 2011, Shanghai, China. ISBN 978 1 61284 380 3.

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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.

Document Type:Conference or Workshop Item (Paper)
Title:Influence of contact types and uncertainties in the computation of independent contact regions
Authors:
AuthorsInstitution or Email of Authors
Roa, Maximo A.maximo.roagarzon@dlr.de
Suarez, Raulraul.suarez@upc.edu
Date:May 2011
Page Range:pp. 3317-3323
ISBN:978 1 61284 380 3
Status:Published
Keywords:grasp planning, contact regions, friction model
Event Title:2011 IEEE International Conference on Robotics and Automation - ICRA
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9 - 13 May 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Maximo Alejandro Roa Garzon
Deposited On:14 Jun 2011 09:17
Last Modified:12 Dec 2013 21:18

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