B25J 9/1612 (20130101);
In one embodiment, a system and method for planning a robot grasp involve measuring interaction forces imposed on an object by an environment while a task is demonstrated using the object to obtain a disturbance distribution dataset, modeling a task requirement based upon the disturbance distribution dataset, identifying robot grasp types that can be used to satisfy the task requirement, calculating a grasp wrench space for each identified robot grasp, and calculating a grasp quality of each grasp.
Sun, Yu and Lin, Yun, "Systems and methods for planning a robot grasp that can withstand task disturbances" (2017). USF Patents. 926.
University of South Florida