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On transferability and contexts when using simulated grasp databases

Published online by Cambridge University Press:  22 May 2014

Jimmy A. Rytz ,
Lars-Peter Ellekilde ,
Dirk Kraft ,
Henrik G. Petersen  and
Norbert Krüger
Jimmy A. Rytz*
Affiliation:
University of Southern Denmark, Maersk MC-Kinney Møller Institute
Lars-Peter Ellekilde
Affiliation:
University of Southern Denmark, Maersk MC-Kinney Møller Institute
Dirk Kraft
Affiliation:
Syddansk Universitet, Mrsk Mc-Kinney Mller Instituttet
Henrik G. Petersen
Affiliation:
University of Southern Denmark, Maersk MC-Kinney Møller Institute
Norbert Krüger
Affiliation:
University of Southern Denmark, Maersk MC-Kinney Møller Institute
*
*Corresponding author. E-mail: jimali@mmmi.sdu.dk, jimmy.alison.jorgensen@gmail.com
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Summary

It has become a common practice to use simulation to generate large databases of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables the generation of high quality grasps that can be used in several different contexts such as bin-picking or picking objects from a table, has to our knowledge not yet been discussed in the literature.

In this paper, we investigate how well the quality of grasps simulated in a commonly used “generic” context transfers to a specific context, both, in simulation and in the real world.

We generate a large database of grasp hypotheses for several objects and grippers, which we then evaluate in different dynamic simulation contexts e.g., free floating (no gravity, no obstacles), standing on a table and lying on a table.

We present a comparison on the intersection of the grasp outcome space across the different contexts and quantitatively show that to generate reliable grasp databases, it is important to use context specific simulation.

We furthermore evaluate how well a state of the art grasp database transfers from two simulated contexts to a real world context of picking an object from a table and discuss how to evaluate transferability into non-deterministic real world contexts.

Keywords

AutomationGraspingRobot dynamicsControl of robotic systemsPose estimation and registration
Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015 , pp. 1131 - 1146
Copyright
Copyright © Cambridge University Press 2014 

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