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Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0001-9603-1677
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Wrench-based quality metrics play an important role in many applications such as grasp planning or grasp success prediction. In this work, we study the following discrepancy which is frequently overlooked in practice: the quality metrics are commonly computed under the assumption of sum-magnitude bounded contact forces, but the corresponding grasps are executed by a fully actuated device where the contact forces are limited independently. By means of experiments carried out in simulation and on real hardware, we show that in this setting the values of these metrics are severely underestimated. This can lead to erroneous conclusions regarding the actual capabilities of the grasps under consideration. Our findings highlight the importance of matching the physical properties of the task and the grasping device with the chosen quality metrics.

Place, publisher, year, edition, pages
2017.
Keyword [en]
Grasping, Grasp Quality
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-219543DOI: 10.1109/ICRA.2017.7989189Scopus ID: 2-s2.0-85028001428ISBN: 978-1-5090-4633-1 (electronic)OAI: oai:DiVA.org:kth-219543DiVA, id: diva2:1163511
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Note

QC 20171211

Available from: 2017-12-07 Created: 2017-12-07 Last updated: 2017-12-11Bibliographically approved

Open Access in DiVA

fulltext(5011 kB)19 downloads
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
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  • nn-NB
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Output format
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