ICRA 2012 Paper Abstract

Close

Paper WeD02.3

Kim, Junggon (Carnegie Mellon University), Iwamoto, Kunihiro (Toyota), Kuffner, James (Carnegie Mellon University), Ota, Yasuhiro (Toyota Motor Eng. & Manufacturing), Pollard, Nancy S (Carnegie Mellon University)

Physically-Based Grasp Quality Evaluation under Uncertainty

Scheduled for presentation during the Regular Session "Grasping and Manipulation" (WeD02), Wednesday, May 16, 2012, 17:00−17:15, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Grasping

Abstract

In this paper new grasp quality measures considering both object dynamics and pose uncertainty are proposed. Dynamics of the object is incorporated into our grasping simulation to capture the change of its pose and contact points during grasping. Pose uncertainty is considered by running multiple simulations starting from slightly different initial poses sampled from a probability distribution model. A simple robotic grasping strategy is simulated and the quality score of the resulting grasp is evaluated from the simulation result. The effectiveness of the new quality measures on predicting the actual grasp success rate is shown through a real robot experiment.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-11-18  19:12:07 PST  Terms of use