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Classical Grasp Quality Evaluation: New Theory and Algorithms
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-1114-6040
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 3493-3500 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates theoretical properties of a well-known L 1 grasp quality measure Q whose approximation Q- l is commonly used for the evaluation of grasps and where the precision of Q- l depends on an approximation of a cone by a convex polyhedral cone with l edges. We prove the Lipschitz continuity of Q and provide an explicit Lipschitz bound that can be used to infer the stability of grasps lying in a neighbourhood of a known grasp. We think of Q - l as a lower bound estimate to Q and describe an algorithm for computing an upper bound Q+. We provide worst-case error bounds relating Q and Q- l. Furthermore, we develop a novel grasp hypothesis rejection algorithm which can exclude unstable grasps much faster than current implementations. Our algorithm is based on a formulation of the grasp quality evaluation problem as an optimization problem, and we show how our algorithm can be used to improve the efficiency of sampling based grasp hypotheses generation methods.

Place, publisher, year, edition, pages
IEEE , 2013. 3493-3500 p.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
grasping, grasp quality, robotic manipulation
National Category
Computer Science Robotics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-129495DOI: 10.1109/IROS.2013.6696854ISI: 000331367403083Scopus ID: 2-s2.0-84893728903ISBN: 978-146736358-7 (print)OAI: oai:DiVA.org:kth-129495DiVA: diva2:655667
Conference
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
Funder
EU, FP7, Seventh Framework Programme, FP7-ERC-279933Swedish Foundation for Strategic Research
Note

QC 20140105

Available from: 2013-10-13 Created: 2013-09-30 Last updated: 2014-04-10Bibliographically approved

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Pokorny, Florian T.Kragic, Danica

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