Physically-based grasp quality evaluation under uncertainty

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 3258-3263

  Kim, Junggon ^a   Iwamoto, Kunihiro ^b   Kuffner, James J ^c   Ota, Yasuhiro ^b   Pollard, Nancy S ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b TOYOTA MOTOR CORPORATION   (Japan)

^c GOOGLE INC   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

PROBABILITY DISTRIBUTIONS; ROBOTICS;

CONTACT POINTS; GRASP QUALITY EVALUATIONS; GRASP QUALITY MEASURE; OBJECT DYNAMICS; PHYSICALLY BASED; PROBABILITY DISTRIBUTION MODEL; QUALITY MEASURES; ROBOTIC GRASPING;

QUALITY CONTROL;

EID: 84864490168     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6225342     Document Type: Conference Paper

References (17)

1. Li and Sastry, "Task-oriented optimal grasping by multifingered robotic hands," IEEE Journal of Robotics and Automation, 1988.
2. Ferrari and Canny, "Planning optimal grasps," IEEE International Conference on Robotics and Automation, 1992.
3. Miller and Allen, "Graspit! A versatile simulator for robotic grasping," IEEE Robotics and Automation Magazine, 2004.
4. Rosen Diankov, "Automated Construction of Robotic Manipulation Programs," doctoral dissertation, tech. report CMU-RI-TR-10-29, Robotics Institute, Carnegie Mellon University, September, 2010.
5. Corey Goldfeder, Matei Ciocarlie, Hao Dang, Peter K. Allen, "The Columbia Grasp Database," IEEE International Conference on Robotics and Automation, 2009.
6. James J. Kuffner Jr. and Steven M. Lavalle, "RRT-Connect: An efficient approach to single-query path planning," IEEE International Conference on Robotics and Automation, 2000.
7. Vassilios N. Christopoulos and Paul Schrater, "Handling shape and contact location uncertainty in grasping two-dimensional planar objects," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
8. Kaijen Hsiao, Tomas Lozano-Perez and Leslie Pack Kaelbling, "Relatively Robust Grasping," ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, 2009.
9. Kaijen Hsiao, Matei Ciocarlie and Peter Brook, "Bayesian Grasp Planning," ICRA 2011 Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011.
10. Katsu Yamane and Yoshihiko Nakamura, "Stable penalty-based model of frictional contacts," IEEE International Conference on Robotics and Automation, 2006.
11. S. Srinivasa, D. Ferguson, C. Helfrich, D. Berenson, A. Collet, R. Diankov, G. Gallagher, G. Hollinger, J. Kuffner, and M. VandeWeghe, "HERB: A Home Exploring Robotic Butler," Autonomous Robots, 2009.
12. Yu Zheng and Wen-Han Qian, "Coping with the Grasping Uncertainties in Force-closure Analysis," International Journal of Robotics Research, 24(4), 2005.
13. K. Y. Goldberg and M. T. Mason, "Bayesian Grasping," IEEE International Conference on Robotics and Automation 1990.
14. R. C. Brost, "Planning Robot Grasping Motions in the Presence of Uncertainty," The Robotic Institute, Carnegie-Mellon Tech. Report CMU-RI-TR-85-12, 1985.
15. C. Goldfeder and P. K. Allen, "Data-driven grasping," Autonomous Robots, 31(1), 2011.
16. A. Miller, P. Allen, V. Santos, and F. Valero-Cuevas, "From robotic hands to human hands: A visualization and simulation engine for grasping research," Industrial Robot: An International Journal, 32(1), 2005.
17. R. Balasubramanian, L. Xu, P. D. Brook, J. R. Smith, and Y. Matsuoka, "Human-Guided Grasp Measures Improve Grasp Robustness on Physical Robot," IEEE International Conference on Robotics and Automation, 2010.