Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyClassical Grasp Quality Evaluation: New Theory and Algorithms
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
Abstract
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.
Files
Download this publicationBibtex
@inproceedings{pokorny2013c,
author = {Pokorny, Florian T. and Kragic, Danica},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Classical Grasp Quality Evaluation: New Theory and Algorithms},
year = {2013},
address = {Tokyo, Japan},
url = {http://www.csc.kth.se/~fpokorny/static/publications/pokorny2013c.pdf},
}
Code
FastGrasp v0.1 (C++/Python)
This C++ library with python bindings implements fast grasp quality evaluation methods outlined in our paper"Classical Grasp Quality Evaluation: New Theory and Algorithms", F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013
Data sets:
RandomGrasps
This data set contains 100000 random grasp point-contact configurations formed by uniformly sampled contact points and unit surface normals as well as associated centres of mass. These contact configurations are useful for large scale statistical studies of grasp quality measures but do not necessarily correspond to specific object/hand configurations. Associated grasp quality scores are available for download for further analysis. See the following papers for use cases:"Classical Grasp Quality Evaluation: New Theory and Algorithms", F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013
"Friction Coefficients and Grasp Synthesis", K. Hang, F. T. Pokorny, D. Kragic, IEEE/RSJ IROS, 2013
"Grasp Moduli Spaces", F. T. Pokorny, K. Hang, D. Kragic, RSS 2013.