Grasp Input Optimization Taking Contact Position and Object Information Uncertainties into Consideration
نویسندگان
چکیده
منابع مشابه
Grasp input optimization considering contact position and object information uncertainties
This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and fric...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2012
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2012.2197310