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

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 1557-1563

  Christopoulos, Vassilios N ^a   Schrater, Paul ^a  

^a UNIVERSITY OF MINNESOTA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT LOCATION;

EQUIVALENCE CLASSES; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; RISK ASSESSMENT; ROBOTICS; TWO DIMENSIONAL;

UNCERTAINTY ANALYSIS;

EID: 51349149836     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399509     Document Type: Conference Paper

References (21)

1. A. Bicchi and V. Kumar, "Robotic Grasping and Contact: A Review," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, San Francisco. CA, Apr. 2000, pp. 348-353.
2. V. D. Nguyen, "Constructing Force-Closure Grasps," The International Journal of Robotics Research, vol. 7, no. 3, pp. 3-16, Jun. 1988.
3. A. Bicchi and V. Kumar, "An Overview of Dexterous Manipulation," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, San Francisco, CA, Apr. 2000, pp. 255-262.
4. J. Aloimonos, "Perspective approximations," J. Image and Vision Computing, vol. 8, pp. 177-192, Aug. 1990.
5. S. T. Venkataraman and T. Iberall, Dextrous Robot Hands. Springer-Verlag, 1990.
6. J. R. Kerr and B. Roth, "Analysis of Multifingered Hands," International Journal of Robotics Research, vol. 4, no. 4, pp. 3-17, 1986.
7. M. Cutkosky, "On Grasp Choice, Grasp Models, and the Design of Hands Formanufacturing Tasks," in Proceedings of the IEEE Transactions on Robotics and Automation, vol. 5, Jun. 1989, pp. 269-279.
8. M. T. Mason and J. K. Salisbury, Robot Hands and the Mechanics of Manipulation. MIT press, May 1985.
9. K. Y. Goldberg and M. T. Mason, "Bayesian Grasping," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, Cincinnati, OH, May 1990, pp. 1264-1269.
10. R. C. Brost, "Planning Robot Grasping Motions in the Presence of Uncertainty," The Robotic Institute, Carnegie-Mellon" Pittsburgh, PA. Tech. Rep. CMU-RI-TR-85-12, Jul. 1985.
11. Y. Zheng and W.-H. Qian, "Coping with the Grasping Uncertainties in Force-closure Analysis," the International Journal of Robotics Research, vol. 24, no. 4, pp. 311-327, Apr. 2004.
12. G. M. Bone and Y. Du, "Multi-Metric Comparison of Optimal 2D Grasp Planning Algorithms," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3. Seoul, Korea, May 2001, pp. 3061-3066.
13. A. Blake, "Computational modelling of hand-eye coordination," Philosophical Transactions: Biological Sciences, vol. 337, no. 1281, pp. 351-360, 1992.
14. J. A. Coelho and R. A. Grupen, "A Control Basis for Learning Multifingered Grasps," Journal of Robotic Systems, vol. 14, no. 7, pp. 545-557, 1997.
15. A. Morales, P. Sanz, and A. del Pobil, "Vision-based Computation of Three-Finger Grasps on Unknown Planar Objects," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System, vol. 2, Washington, DC, May 2002, pp. 1711-1716.
16. B. K. P. Horn, Robot Vision, 1st ed. The Mit Press, 1986.
17. S. Ullman and R. Basri, "Recognition by linear combinations of models," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, no. 10, pp. 992-1006, 1991.
18. A. Blake and M. isard, Active Contours, 1st ed. Springer-Verlag, 1998.
19. G.Bebis, M.Georgiopoulos, N. Lobo, and M. Shah, "Learing Affme Transformations," Pattern Recognition, vol. 32, no. 10, pp. 1799-1999, Oct. 1999.
20. R. C. Gonzalez and R. E. Woods, Digital Image Processing, 2nd ed. Pearson Education, 2002.
21. 2D planar database, Laboratory for Engineering Man/ Machine Systems, Brown University, http://www.lems.brown.edu/vision.