Modeling the Effects of Contact Sensor Resolution on Grasp Success

This letter presents a quantitative method for analyzing the effect of sensor resolution on grasp stability prediction. Resolution limits for contact sensors are expressed as a range of contact locations and contact surface normals that cannot be disambiguated by the sensor. Grasp quality is assesse...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2018-07, Vol.3 (3), p.1933-1940
Main Authors: Qian Wan, Howe, Robert D.
Format: Article
Language:English
Subjects:
Force
force and tactile sensing
Friction
Grasping
perception for grasping and manipulation
Quality assessment
Quantitative analysis
Robot sensing systems
Sensors
Spatial resolution
Stability analysis
Tactile sensors (robotics)
Task analysis
Trustworthiness
Uncertainty
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This letter presents a quantitative method for analyzing the effect of sensor resolution on grasp stability prediction. Resolution limits for contact sensors are expressed as a range of contact locations and contact surface normals that cannot be disambiguated by the sensor. Grasp quality is assessed at the limits of this range to determine whether the uncertainties caused by sensor resolution lead to uncertainty in grasp outcome prediction. The analysis also enables calculation of the specific contact locations on an object where the tactile sensors are trustworthy and where the object is reliably graspable. Our approach lays the foundation for quantitative evaluation in design tradeoffs in sensor choices and sensor layout, as well as finger shapes and materials.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2807581