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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.
| Item URL in elib: | https://elib.dlr.de/70040/ | |||||||||
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| Document Type: | Conference or Workshop Item (Paper) | |||||||||
| Title: | Influence of contact types and uncertainties in the computation of independent contact regions | |||||||||
| Authors: |
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| Date: | May 2011 | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| 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 (until 2012) > Robotic Systems | |||||||||
| Deposited By: | Roa Garzon, Dr. Máximo Alejandro | |||||||||
| Deposited On: | 14 Jun 2011 09:17 | |||||||||
| Last Modified: | 12 Dec 2013 21:18 |
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