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Evaluating the Quality of Non-Prehensile Balancing Grasps
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.ORCID-id: 0000-0001-9603-1677
Vicarious AI, San Francisco, CA USA..
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-2965-2953
German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany..
2018 (engelsk)Inngår i: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, s. 4215-4220Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2018. s. 4215-4220
Serie
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-237163ISI: 000446394503032Scopus ID: 2-s2.0-85063137634ISBN: 978-1-5386-3081-5 (tryckt)OAI: oai:DiVA.org:kth-237163DiVA, id: diva2:1258326
Konferanse
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Forskningsfinansiär
Swedish Foundation for Strategic Research
Merknad

QC 20181024

Tilgjengelig fra: 2018-10-24 Laget: 2018-10-24 Sist oppdatert: 2019-08-20bibliografisk kontrollert

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Totalt: 106 treff
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