Sorour, M, Elgeneidy, K, Hanheide, M et al. (3 more authors) (2020) Enhancing Grasp Pose Computation in Gripper Workspace Spheres. In: Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA). 2020 IEEE International Conference on Robotics and Automation (ICRA), 31 May - 31 Aug 2020, Paris, France. IEEE , pp. 1539-1545. ISBN 978-1-7281-7396-2
Abstract
In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spheres is presented. Our development requires a registered point cloud of the target from different views, assuming no prior knowledge of the object, nor any of its properties. This work features a new set of metrics for grasp pose candidates evaluation, as well as exploring the impact of high object sampling on grasp success rates. In addition to gripper position sampling, we now perform orientation sampling about the x, y, and z-axes, hence the grasping algorithm no longer require object orientation estimation. Successful experiments have been conducted on a simple jaw gripper (Franka Panda gripper) as well as a complex, high Degree of Freedom (DoF) hand (Allegro hand) as a proof of its versatility. Higher grasp success rates of 76% and 85.5% respectively has been reported by real world experiments.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2020, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Grippers; Three-dimensional displays; Ellipsoids; Grasping; Measurement; Shape; Planning |
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Environment (Leeds) > Institute for Transport Studies (Leeds) > ITS: Safety and Technology (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 Nov 2020 14:42 |
Last Modified: | 11 Nov 2020 16:01 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/icra40945.2020.9196863 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:167850 |