Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyFriction Coefficients and Grasp Synthesis
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
Abstract
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.
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@inproceedings{hang2013a,
author = {Hang, Kaiyu and Pokorny, Florian T. and Kragic, Danica},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Friction Coefficients and Grasp Synthesis},
year = {2013},
address = {Tokyo, Japan},
url = {http://www.csc.kth.se/~fpokorny/static/publications/hang2013a.pdf},
}