Handling shape and contact location uncertainty in grasping two-dimensional planar objects

Vassilios N. Christopoulos, Paul R Schrater

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    24 Scopus citations

    Abstract

    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.

    Original languageEnglish (US)
    Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    Pages1557-1563
    Number of pages7
    DOIs
    StatePublished - Dec 1 2007
    Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
    Duration: Oct 29 2007Nov 2 2007

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems

    Other

    Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    CountryUnited States
    CitySan Diego, CA
    Period10/29/0711/2/07

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  • Cite this

    Christopoulos, V. N., & Schrater, P. R. (2007). Handling shape and contact location uncertainty in grasping two-dimensional planar objects. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1557-1563). [4399509] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399509