Grasp input optimization taking contact position uncertainty into consideration

This paper presents a novel approach for grasp planning taking contact position uncertainty into consideration. Practically, it is hard to grasp an object with the designed or planned contact positions since there exist some errors in measurement and control. Then, we formulate the influences of the contact uncertainty on joint torques, contact forces, frictional condition, and resultant wrench. Base on the formulation, we define grasp planning problem which can take care of the contact uncertainty as additional joint torque & normal contact force. The validity of our approach is shown by experiment and numerical examples.