Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip

@article{Kehoe2012EstimatingPT,
  title={Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip},
  author={Ben Kehoe and Dmitry Berenson and Kenneth Y. Goldberg},
  journal={2012 IEEE International Conference on Automation Science and Engineering (CASE)},
  year={2012},
  pages={1106-1113}
}
We explore setting bounds on part tolerances based on an adaptive Cloud-based algorithm to estimate lower bounds on achieving force closure during grasping. We consider the most common robot gripper: a pair of thin parallel jaws, and a conservative class of push-grasps allowing slip that can enhance part alignment for parts that can be modeled as extruded polygons. The grasp analysis algorithm takes as input a set of candidate grasps and perturbations of a nominal part shape. We define a grasp… CONTINUE READING
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