Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping

Conventional approaches to grasp planning require perfect knowledge of an object's pose and geometry. Uncertainties in these quantities induce uncertainties in the quality of planned grasps, which can lead to failure. Classically, grasp robustness refers to the ability to resist external distur...

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Hauptverfasser:	Li, Albert H, Culbertson, Preston, Ames, Aaron D
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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