Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.ORCID-id: 0000-0001-9603-1677
2017 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

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.

sted, utgiver, år, opplag, sider
2017.
Emneord [en]
Grasping, Grasp Quality
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:kth:diva-219543DOI: 10.1109/ICRA.2017.7989189Scopus ID: 2-s2.0-85028001428ISBN: 978-1-5090-4633-1 (digital)OAI: oai:DiVA.org:kth-219543DiVA, id: diva2:1163511
Konferanse
IEEE International Conference on Robotics and Automation (ICRA)
Merknad

QC 20171211

Tilgjengelig fra: 2017-12-07 Laget: 2017-12-07 Sist oppdatert: 2017-12-11bibliografisk kontrollert

Open Access i DiVA

fulltext(5011 kB)113 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 5011 kBChecksum SHA-512
56e4db5f0505a4331cabb69f16d1162516c908cf577f07cfcd574eda254be074eec1c3da50de783e9ba8834c0d09f68a0ae701ac13c0b5d8a6b44002bb0496c1
Type fulltextMimetype application/pdf

Andre lenker

Forlagets fulltekstScopusConference web page

Personposter BETA

Krug, Robert

Søk i DiVA

Av forfatter/redaktør
Krug, Robert
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 113 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 74 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf