Grasp quality evaluation and planning for objects with negative curvature
Shuo Liu, Zhe Hu, Hao Zhang, Mingu Kwon, Zhikang Wang, Yi Xu, Stefano Carpin
Abstract
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.
BibTeX
@inproceedings{icra2017_graspqualityeval,
title = {Grasp quality evaluation and planning for objects with negative curvature},
author = {Shuo Liu and Zhe Hu and Hao Zhang and Mingu Kwon and Zhikang Wang and Yi Xu and Stefano Carpin},
booktitle = {ICRA 2017},
year = {2017}
}