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Robot Grasp Planning using Parallel Sampling to Estimate Uncertainty in Pose, Shape, and Mechanics;Summary;Willow Garage PR2;Holding: Rigid parts;Holding: Rigid parts;Parallel-Jaw Grip Points (1999);Related Work: Mason’s Rule;Stable Push Grasps;Problem Statement;Problem Statement;Approach: Stable Push Grasps;Failure Modes;Failure Modes;Failure Modes;Failure Modes;Max Contact Angle;Sampling Vertex Positions;% SPG = 98%;% SPG = 74%;Rotated Square;Sampling Edge Normals;Results;Results;Results;Uncertainty May Help?;Other Related Work;Related Work;Related Strategy: Task Space Regions;Task Space Regions;Next Steps;Cloud Computing;Stable Push Grasps;Next Steps;Related Work: Force Closure;Related Work: Friction Cones;Results