This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Citation Map Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Google Scholar Google Scholar Articles by Brost, R. C. Search for Related Content Social Bookmarking                   What's this?

Automatic Grasp Planning in the Presence of Uncertainty

Department of Computer Science Carnegie Mellon University Pittsburgh, Pennsylvania 15213

This paper presents an algorithm for automatic planning of robot grasping motions that are insensitive to bounded uncer tainties in the object's location. The algorithm plans parallel- jaw grasping motions for arbitrary two-dimensional polygo nal objects, which need not be of uniform density. Grasping motions are viewed as parameterized operations, where the parameter values that describe an individual operation define an operation space of all possible operations. By combining an analysis of object geometry and the physics of friction, the planning algorithm divides the operation space into regions, where all operations within a given region produce the same final grasping configuration. Task uncertainties are then included by shrinking these regions by the amount of uncer tainty present. The smaller regions that remain after shrink ing indicate all those operations that will successfully result in a given grasping configuration, even if the worst-case combination of errors occurs.

Moreover, the grasping operations presented in this paper intrinsically reduce task uncertainty. If an operation is cho sen from a region and executed, then two degrees of uncer tainty will be removed from the object's position when the operation is completed.

It is shown that simple squeeze-grasp operations are not sufficient for grasping all possible objects, and offset-grasp and push-grasp operations are added to increase the scope of the planner. The planner has been implemented, and the resulting program has been tested with an industrial manipu lator.

CiteULike    Connotea    Del.icio.us    Digg    Reddit    Technorati    What's this?

This article has been cited by other articles:

				J. Nakanishi, R. Cory, M. Mistry, J. Peters, and S. Schaal Operational Space Control: A Theoretical and Empirical Comparison The International Journal of Robotics Research, June 1, 2008; 27(6): 737 - 757. [Abstract] [PDF]

				J. De Schutter, T. De Laet, J. Rutgeerts, W. Decre, R. Smits, E. Aertbelien, K. Claes, and H. Bruyninckx Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty The International Journal of Robotics Research, May 1, 2007; 26(5): 433 - 455. [Abstract] [PDF]

				Y. Or and E. Rimon Computation and Graphical Characterization of Robust Multiple-Contact Postures in Two-Dimensional Gravitational Environments The International Journal of Robotics Research, November 1, 2006; 25(11): 1071 - 1086. [Abstract] [PDF]

				A. Shapiro, E. Rimon, and S. Shoval A Foothold Selection Algorithm for Spider Robot Locomotion in Planar Tunnel Environments The International Journal of Robotics Research, October 1, 2005; 24(10): 823 - 844. [Abstract] [PDF]

				K. Gadeyne, T. Lefebvre, and H. Bruyninckx Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation The International Journal of Robotics Research, August 1, 2005; 24(8): 615 - 630. [Abstract] [PDF]

				Y. Zheng and W.-H. Qian Coping with the Grasping Uncertainties in Force-closure Analysis The International Journal of Robotics Research, April 1, 2005; 24(4): 311 - 327. [Abstract] [PDF]

				Y.-B. Jia Computation on Parametric Curves with an Application in Grasping The International Journal of Robotics Research, August 1, 2004; 23(7-8): 827 - 857. [Abstract] [PDF]

				N. S. Pollard Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples The International Journal of Robotics Research, June 1, 2004; 23(6): 595 - 613. [Abstract] [PDF]

				J. Baeten, H. Bruyninckx, and J. De Schutter Integrated Vision/Force Robotic Servoing in the Task Frame Formalism The International Journal of Robotics Research, October 1, 2003; 22(10-11): 941 - 954. [Abstract] [PDF]

				S. J. Blind, C. C. McCullough, S. Akella, and J. Ponce Manipulating Parts with an Array of Pins: A Method and a Machine The International Journal of Robotics Research, October 1, 2001; 20(10): 808 - 818. [Abstract] [PDF]

				J. Canny and E. Paulos Optimal Probing Strategies The International Journal of Robotics Research, August 1, 2001; 20(8): 694 - 704. [Abstract] [PDF]

				S. Rusaw, K. Gupta, and S. Payandeh Flexible Part Orienting Using Rotation Direction and Force Measurements The International Journal of Robotics Research, June 1, 2001; 20(6): 484 - 505. [Abstract] [PDF]

				S. Akella and M. T. Mason Orienting Toleranced Polygonal Parts The International Journal of Robotics Research, December 1, 2000; 19(12): 1147 - 1170. [Abstract] [PDF]

				E. Y. L. Gu A Configuration Manifold Embedding Model for Dynamic Control of Redundant Robots The International Journal of Robotics Research, March 1, 2000; 19(3): 289 - 304. [Abstract] [PDF]

				M. T. Mason Progress in Nonprehensile Manipulation The International Journal of Robotics Research, November 1, 1999; 18(11): 1129 - 1141. [Abstract] [PDF]

				S. Akella and M. T. Mason Using Partial Sensor Information to Orient Parts The International Journal of Robotics Research, October 1, 1999; 18(10): 963 - 997. [Abstract] [PDF]