TY - GEN
T1 - Assessing Grasp Quality using Local Sensitivity Analysis
AU - Zechmair, M.
AU - Morel, Y.
PY - 2021
Y1 - 2021
N2 - We propose a new approach to investigate and quantify dynamic grasp performance. Oftentimes, existing approaches to grasp analysis assess a grasp's quality in a static situation. We build upon such considerations to also account for the dynamic nature of most grasp operations. In particular, these typically do not, in practice, occur in a static setting. Robotic grasping is indeed commonly involved in, for instance, pick-and-place operations which involve movement and thus a dynamic aspect. We investigate grasp quality over such movements, affording consideration not only to the gripper's and grasp configuration, but also to their trajectory. More specifically, we explore the relationship from the gripper's base acceleration to the stability of the grasped object (assessed using the relative acceleration of the object with respect to that of the gripper), using linear approximations of the corresponding dynamics. From such relations, we construct a grasp's robustness metric, which accounts for the movements involved in the considered scenario. Numerical simulations are used to compare achieved results with those obtained using alternate existing methods. We illustrate merit of the proposed metric by exploring robustness of a given grasp under different trajectories.
AB - We propose a new approach to investigate and quantify dynamic grasp performance. Oftentimes, existing approaches to grasp analysis assess a grasp's quality in a static situation. We build upon such considerations to also account for the dynamic nature of most grasp operations. In particular, these typically do not, in practice, occur in a static setting. Robotic grasping is indeed commonly involved in, for instance, pick-and-place operations which involve movement and thus a dynamic aspect. We investigate grasp quality over such movements, affording consideration not only to the gripper's and grasp configuration, but also to their trajectory. More specifically, we explore the relationship from the gripper's base acceleration to the stability of the grasped object (assessed using the relative acceleration of the object with respect to that of the gripper), using linear approximations of the corresponding dynamics. From such relations, we construct a grasp's robustness metric, which accounts for the movements involved in the considered scenario. Numerical simulations are used to compare achieved results with those obtained using alternate existing methods. We illustrate merit of the proposed metric by exploring robustness of a given grasp under different trajectories.
KW - DESIGN
U2 - 10.1109/iros51168.2021.9636021
DO - 10.1109/iros51168.2021.9636021
M3 - Conference article in proceeding
SN - 9781665417143
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3995
EP - 4001
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PB - IEEE
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 27 September 2021 through 1 October 2021
ER -