Grasping Fragile Objects Using A Stress-Minimization Metric
Grasping Fragile Objects Using A Stress-Minimization Metric
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DOI：
10.1109/icra40945.2020.9196938
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Zherong Pan;Xifeng Gao;Dinesh Manocha
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文献类型：
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作者：
Zherong Pan;Xifeng Gao;Dinesh Manocha
我们提出了一种新方法，利用一种新颖的应力最小化（SM）度量为易碎和脆弱的物体生成最优抓取方式。我们的方法是为由均匀各向同性材料组成的物体设计的。我们的SM度量衡量的是不会导致目标物体破裂的最大可抵抗外力。在本文中，我们提出了计算我们新度量的方法。我们还使用我们的SM度量来设计最优抓取规划算法。最后，我们比较了我们的度量与传统抓取度量（包括$Q_1$、$Q_\infty$、$Q_{G11}$、$Q_{MSV}$、$Q_{VEW}$）的性能。我们的实验表明，我们的SM度量考虑了材料特性和物体形状以指示脆弱区域，而先前的方法在这些区域可能效果不佳。我们还表明，我们的SM度量的计算成本与先前的方法相当。最后，我们表明由我们的度量引导的抓取规划器可以降低破坏目标物体的概率。
We present a new method to generate optimal grasps for brittle and fragile objects using a novel stress- minimization (SM) metric. Our approach is designed for objects that are composed of homogeneous isotopic materials. Our SM metric measures the maximal resistible external wrenches that would not result in fractures in the target objects. In this paper, we propose methods to compute our new metric. We also use our SM metric to design optimal grasp planning algorithms. Finally, we compare the performance of our metric and conventional grasp metrics, including ${Q_1},{Q_\infty },{Q_{G11}},{Q_{MSV}},{Q_{VEW}}$. Our experiments show that our SM metric takes into account the material characteristics and object shapes to indicate the fragile regions, where prior methods may not work well. We also show that the computational cost of our SM metric is on par with prior methods. Finally, we show that grasp planners guided by our metric can lower the probability of breaking target objects.