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Evaluating the Quality of Non-Prehensile Balancing Grasps
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-9603-1677
Vicarious AI, San Francisco, CA USA..
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany..
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 4215-4220Conference paper, Published paper (Refereed)
Abstract [en]

Assessing grasp quality and, subsequently, predicting grasp success is useful for avoiding failures in many autonomous robotic applications. In addition, interest in non-prehensile grasping and manipulation has been growing as it offers the potential for a large increase in dexterity. However, while force-closure grasping has been the subject of intense study for many years, few existing works have considered quality metrics for non-prehensile grasps. Furthermore, no studies exist to validate them in practice. In this work we use a real-world data set of non-prehensile balancing grasps and use it to experimentally validate a wrench-based quality metric by means of its grasp success prediction capability. The overall accuracy of up to 84% is encouraging and in line with existing results for force-closure grasps.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 4215-4220
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-237163ISI: 000446394503032Scopus ID: 2-s2.0-85063137634ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237163DiVA, id: diva2:1258326
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Funder
Swedish Foundation for Strategic Research
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2019-08-20Bibliographically approved

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Krug, RobertKragic, Danica

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Citation style
  • apa
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More languages
Output format
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