Grasp input optimization taking contact position and object information uncertainties into consideration

IEEE Transactions on Robotics

Volumn 28, Issue 5, 2012, Pages 1170-1177

  Fungtammasan, Papat ^a   Watanabe, Tetsuyou ^a  

^a KANAZAWA UNIVERSITY   (Japan)

Author keywords

Computer and information processing; computer interfaces; grasping; haptic interfaces

Indexed keywords

CENTER OF MASS; CONTACT POINTS; CONTACT POSITION; FRICTIONAL CONTACT; GRASP OPTIMIZATION; GRASPING; INPUT OPTIMIZATION; JOINT TORQUES; NUMERICAL EXAMPLE; OBJECT INFORMATION; SOFT-FINGER;

DATA PROCESSING; FRICTION; HAPTIC INTERFACES; INTERFACES (COMPUTER); MEASUREMENT ERRORS; OPTIMIZATION; TOOLS;

END EFFECTORS;

EID: 84867192395     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2012.2197310     Document Type: Article

References (16)

1. K. B. Shimoga, "Robot grasp synthesis algorithms: A survey," Int. J. Robot. Res., vol. 15, no. 3, pp. 230-266, 1996.
2. A. Bicchi and V. Kumar, "Robotic grasping and contact: A review," in Proc. IEEE Int. Conf. Robot. Autom., 2000, pp. 348-353.
3. J. R. Kerr and B. Roth, "Analysis of multi-fingered hands," Int. J. Robot. Res., vol. 4, no. 4, pp. 3-17, 1986.
4. T. Watanabe and T. Yoshikawa, "Grasping optimization using a required external force set," IEEE Trans. Autom. Sci. Eng., vol. 4, no. 1, pp. 52-66, Jan. 2007.
5. C. C. Cheah, H. Y. Han, S. Sawamura, and S. Arimoto, "Grasping and position control for multi-fingered robot hands with uncertain Jacobian matrices," in Proc. IEEE Int. Conf. Robot. Autom., 1998, pp. 2403-2408.
6. T. Schlegl and M. Buss, "Hybrid closed-loop control of robotic hand regrasping," in Proc. IEEE Int. Conf. Robot. Autom., 1998, pp. 3026-3031.
7. B. M. Bone and Y. Du, "Multi-metric comparison of optimal 2D grasp planning algorithms," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, 2001, vol. 3, pp. 3061-3066.
8. Y. Zheng and W. Qian, "Coping with the grasping uncertainties in forceclosure analysis," Int. J. Robot. Res., vol. 24, no. 4, pp. 311-327, 2005.
9. V. Christopoulosand and P. Schrater, "Handling shape and contact location uncertainty in grasping two-dimensional planar objects," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2007, pp. 1557-1563.
10. J. Glover, D. Rus, and N. Roy, "Probabilistic models of object geometry with application to grasping," Int. J. Robot. Res., vol. 28, no. 8, pp. 999-1019, 2009.
11. D. Berenson, S. Srinivasa, and J. Kuffner, "Addressing pose uncertainty in manipulator planning using task space regions," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 2009, pp. 1419-1425.
12. P. Fungtammasan and T. Watanabe, "Grasp input optimization taking contact position uncertainty into consideration," Proc. IEEE Int. Conf. Robot. Biomimetics, pp. 1326-1331, 2011.
13. I. Kao and M. R. Cutkosky, "Quasistatic manipulation with compliance and sliding," Int. J. Robot. Res., vol. 11, no. 1, pp. 20-40, 1992.
14. Z. Yu and Q. Wenhan, "Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping," Sci. Chin. Eng. Mater. Sci., vol. 48, no. 2, pp. 121-130, 2005.
15. M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control. New York: Wiley, 2005.
16. H. Takeuchi and T Watanabe, "Development of a multi-fingered robot hand with softness-changeable skin mechanism," in Proc. 41st Joint Conf. Int. Symp. Robot., 2010, pp. 1-7.