Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyCombinatorial Optimization for Hierarchical Contact-level Grasping
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2014
Abstract
We address the problem of generating force-closed point contact grasps on complex surfaces and model it as a
combinatorial optimization problem. Using a multilevel refinement metaheuristic, we maximize the quality of a grasp
subject to a reachability constraint by recursively forming a hierarchy of increasingly coarser optimization problems. A
grasp is initialized at the top of the hierarchy and then locally refined until convergence at each level. Our approach
efficiently addresses the high dimensional problem of synthesizing stable point contact grasps while resulting in stable
grasps from arbitrary initial configurations. Compared to a sampling-based approach, our method yields grasps with
higher grasp quality. Empirical results are presented for a set of different objects. We investigate the number of
levels in the hierarchy, the computational complexity, and the performance relative to a random sampling baseline
approach.
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@inproceedings{hang2014a,
author = {Hang, Kaiyu and Stork, Johannes A. and Pokorny, Florian T. and Kragic, Danica},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
title = {Combinatorial Optimization for Hierarchical Contact-level Grasping},
year = {2014},
address = {Hongkong, China},
url = {http://www.csc.kth.se/~fpokorny/static/publications/hang2014a.pdf}
}