Friction Coefficients and Grasp Synthesis
2013 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), IEEE , 2013, 3520-3526 p.Conference paper (Refereed)
We propose a new concept called friction sensitivity which measures how susceptible a specific grasp is to changes in the underlying friction coefficients. We develop algorithms for the synthesis of stable grasps with low friction sensitivity and for the synthesis of stable grasps in the case of small friction coefficients. We describe how grasps with low friction sensitivity can be used when a robot has an uncertain belief about friction coefficients and study the statistics of grasp quality under changes in those coefficients. We also provide a parametric estimate for the distribution of grasp qualities and friction sensitivities for a uniformly sampled set of grasps.
Place, publisher, year, edition, pages
IEEE , 2013. 3520-3526 p.
, IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
grasping, friction sensitivity, robotic manipulation
Computer Science Robotics
Research subject SRA - ICT
IdentifiersURN: urn:nbn:se:kth:diva-129498DOI: 10.1109/IROS.2013.6696858ISI: 000331367403087ScopusID: 2-s2.0-84893771956ISBN: 978-146736358-7OAI: oai:DiVA.org:kth-129498DiVA: diva2:655675
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
FunderEU, FP7, Seventh Framework Programme, FP7-ERC-279933Swedish Research CouncilSwedish Foundation for Strategic Research
QC 201401282013-10-132013-09-302016-05-16Bibliographically approved