Grasp quality evaluation and planning for objects with negative curvature
Grasp quality evaluation and planning for objects with negative curvature
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负曲率物体的抓取质量评估与规划
DOI：
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发表时间：
2017
期刊：
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通讯作者：
Stefano Carpin
中科院分区：
文献类型：
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作者：
Shuo Liu;Zhe Hu;H. Zhang;Mingu Kwon;Zhikang Wang;Yi Xu;Stefano Carpin
我们考虑抓取凹物体的问题，即，曲面包含负曲率区域的对象。当使用多指手来约束这些物体时，这些区域可以有利地用于确定能够更鲁棒地抵抗外部干扰扳手的抓握。我们提出了一个新的把握质量指标，特别适合这种情况下，我们用它来通知把握规划搜索空间的可能把握。我们的研究结果验证了在模拟和真实的机器人系统执行一个垃圾桶采摘任务。实验验证表明，我们的方法是更有效的比那些没有明确考虑负曲率。
We consider the problem of grasping concave objects, i.e., objects whose surface includes regions with negative curvature. When a multifingered hand is used to restrain these objects, these areas can be advantageously used to determine grasps capable of more robustly resisting to external disturbance wrenches. We propose a new grasp quality metric specifically suited for this case, and we use it to inform a grasp planner searching the space of possible grasps. Our findings are validated both in simulation and on a real robot system executing a bin picking task. Experimental validation shows that our method is more effective than those not explicitly considering negative curvature.