Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps.
Ben KehoeDmitry BerensonKen GoldbergPublished in: ICRA (2012)
Keyphrases
- lower bound
- upper bound
- objective function
- branch and bound algorithm
- shape model
- branch and bound
- np hard
- cloud computing
- shape analysis
- rigid body
- worst case
- shape descriptors
- shape features
- medial axis
- linear programming
- learning algorithm
- optimal solution
- uncertain data
- shape matching
- shape representation
- boundary conditions