Classical grasp quality evaluation: New algorithms and theory
- 1 November 2013
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3493-3500
- https://doi.org/10.1109/iros.2013.6696854
Abstract
This paper investigates theoretical properties of a well-known L1 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.Keywords
This publication has 12 references indexed in Scilit:
- An Efficient Algorithm for a Grasp Quality MeasureIEEE Transactions on Robotics, 2012
- Bridging the Gap: One shot grasp synthesis approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- OpenGRASP: A Toolkit for Robot Grasping SimulationLecture Notes in Computer Science, 2010
- Improving grasp quality evaluationRobotics and Autonomous Systems, 2009
- GraspIt!IEEE Robotics & Automation Magazine, 2004
- Synthesis of force-closure grasps on 3-d objects based on the Q distanceIEEE Transactions on Robotics and Automation, 2003
- Easily computable optimum grasps in 2-D and 3-DPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Robotic grasping and contact: a reviewPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- The quickhull algorithm for convex hullsACM Transactions on Mathematical Software, 1996
- Planning optimal graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1992