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A Framework for Optimal Grasp Contact Planning
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-4132-1217
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-2965-2953
2017 (engelsk)Inngår i: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 2, nr 2, s. 704-711Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

We consider the problem of finding grasp contacts that are optimal under a given grasp quality function on arbitrary objects. Our approach formulates a framework for contact-level grasping as a path finding problem in the space of supercontact grasps. The initial supercontact grasp contains all grasps and in each step along a path grasps are removed. For this, we introduce and formally characterize search space structure and cost functions underwhich minimal cost paths correspond to optimal grasps. Our formulation avoids expensive exhaustive search and reduces computational cost by several orders of magnitude. We present admissible heuristic functions and exploit approximate heuristic search to further reduce the computational cost while maintaining bounded suboptimality for resulting grasps. We exemplify our formulation with point-contact grasping for which we define domain specific heuristics and demonstrate optimality and bounded suboptimality by comparing against exhaustive and uniform cost search on example objects. Furthermore, we explain how to restrict the search graph to satisfy grasp constraints for modeling hand kinematics. We also analyze our algorithm empirically in terms of created and visited search states and resultant effective branching factor.

sted, utgiver, år, opplag, sider
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2017. Vol. 2, nr 2, s. 704-711
Emneord [en]
Grasping, dexterous manipulation, multifingered hands, contact modeling
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-217455DOI: 10.1109/LRA.2017.2651381ISI: 000413736600043OAI: oai:DiVA.org:kth-217455DiVA, id: diva2:1158022
Merknad

QC 20171117

Tilgjengelig fra: 2017-11-17 Laget: 2017-11-17 Sist oppdatert: 2017-11-17bibliografisk kontrollert

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Hang, KaiyuStork, Johannes A.Kragic, Danica

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