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Grasp Quality Evalu...
Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
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- Krug, Robert, 1981- (författare)
- Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH),AASS Research Center, Örebro University; 701 82 Örebro, Sweden
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- Bekiroglu, Yasemin, 1982 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Roa, Maximo (författare)
- Deutsches Zentrums für Luft- und Raumfahrt (DLR),German Aerospace Center (DLR)
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(creator_code:org_t)
- 2017
- 2017
- Engelska.
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729.
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Abstract
Ämnesord
Stäng
- Wrench-based quality metrics play an important role in many applications such as grasp planning or grasp success prediction. In this work, we study the following discrepancy which is frequently overlooked in practice: the quality metrics are commonly computed under the assumption of sum-magnitude bounded contact forces, but the corresponding grasps are executed by a fully actuated device where the contact forces are limited independently. By means of experiments carried out in simulation and on real hardware, we show that in this setting the values of these metrics are severely underestimated. This can lead to erroneous conclusions regarding the actual capabilities of the grasps under consideration. Our findings highlight the importance of matching the physical properties of the task and the grasping device with the chosen quality metrics.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Ellipsoids
- Friction
- Computational modeling
- Robot sensing systems
- Grasping
- Measurement
- Force
- Computer Science
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
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