Physically-based Grasp Quality Evaluation under Pose Uncertainty
Venue
IEEE Transactions on Robotics (2013)
Publication Year
2013
Authors
Junggon Kim, Kunihiro Iwamoto, James J.Kuffner, Yasuhiro Ota, Nancy S. Pollard
BibTeX
Abstract
Although there has been great progress in robot grasp planning, automatically
generated grasp sets using a quality metric are not as robust as human generated
grasp sets when applied to real problems. Most previous research on grasp quality
metrics has focused on measuring the quality of established grasp contacts after
grasping, but it is difficult to reproduce the same planned final grasp configuration
with a real robot hand, which makes the quality evaluation less useful in practice.
In this study we focus more on the grasping process which usually involves changes
in contact and object location, and explore the efficacy of using dynamic simulation
in estimating the likely success or failure of a grasp in the real environment.
Among many factors that can possibly affect the result of grasping, we particularly
investigated the effect of considering object dynamics and pose uncertainty on the
performance in estimating the actual grasp success rates measured from experiments.
We observed that considering both dynamics and uncertainty improved the performance
significantly and, when applied to automatic grasp set generation, this method
generated more stable and natural grasp sets compared to a commonly used method
based on kinematic simulation and force-closure analysis.
