Analytic Grasp Success Prediction with Tactile Feedback
Paper in proceedings, 2016

Predicting grasp success is useful for avoiding failures in many robotic applications. Based on reasoning in wrench space, we address the question of how well analytic grasp success prediction works if tactile feedback is incorporated. Tactile information can alleviate contact placement uncertainties and facilitates contact modeling. We introduce a wrench-based classifier and evaluate it on a large set of real grasps. The key finding of this work is that exploiting tactile information allows wrench-based reasoning to perform on a level with existing methods based on learning or simulation. Different from these methods, the suggested approach has no need for training data, requires little modeling effort and is computationally efficient. Furthermore, our method affords task generalization by considering the capabilities of the grasping device and expected disturbance forces/moments in a physically meaningful way.

Uncertainty

Computational modeling

Training data

Friction

Predictive models

Force

Tactile sensors

Author

Robert Krug

Royal Institute of Technology (KTH)

Achim Lilienthal

Örebro University

Danica Kragic

Royal Institute of Technology (KTH)

Yasemin Bekiroglu

Chalmers, Signals and Systems, Systems and control, Automatic Control

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

IEEE International Conference on Robotics and Automation
Stockholm, ,

Subject Categories

Robotics

Computer Science

More information

Created

9/2/2020 1