An Efficient Algorithm for a Grasp Quality Measure

Zheng, Yu

doi:10.1109/tro.2012.2222274

Cited by 44 publications

(29 citation statements)

References 21 publications

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“…Zheng proposed to replace QuickHull with an algorithm that iteratively approximates the convex hull by growing a polytope guaranteed to be inside the convex hull [13]. Differently from PQHGWS, this algorithm cannot be applied when evaluating grasps that do not achieve force closure, and this is a limitation because when a grasp is not force closure the distance between the hull and the origin is still useful to guide the planning process [14].…”

Section: Grasp Quality Metricsmentioning

confidence: 99%

“…Differently from PQHGWS, this algorithm cannot be applied when evaluating grasps that do not achieve force closure, and this is a limitation because when a grasp is not force closure the distance between the hull and the origin is still useful to guide the planning process [14]. The algorithm presented in [13] provides an approximation of the convex hull and the approximation error converges to zero only asymptotically with an unknown convergence rate. Pokorny and Kragic [15] provide the first accurate study of the analytical properties of the GWS metric proposed by Ferrari and Canny and of its approximations.…”

Section: Grasp Quality Metricsmentioning

confidence: 99%

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Partial convex hull algorithms for efficient grasp quality evaluation

Liu

Carpin

2016

Robotics and Autonomous Systems

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We present two algorithms to efficiently determine the value of two grasp quality metrics formerly proposed in literature. The first one is heavily used in practice but has some drawbacks, e.g., it is not scale invariant and it does not focus on the disturbance forces that will occur in practice when the robot grasps an object. The second one overcomes these limitations, but is rarely used because it is computationally too demanding. The two algorithms we propose are based on the common intuition that both metrics can be efficiently computed through a modified version of the QuickHull algorithm that is commonly used to compute convex hulls. In both cases it is possible to establish when enough information has been generated to determine the desired value, and then stop the construction of a suitably defined convex hull. Extensive numerical evaluations demonstrate that our algorithms provide substantial computational gains when compared with the state of the art. The speedup provides an immediate benefit to planners using grasp quality metrics to guide the search through the space of possible grasps.

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Section: Grasp Quality Metricsmentioning

confidence: 99%

Section: Grasp Quality Metricsmentioning

confidence: 99%

Partial convex hull algorithms for efficient grasp quality evaluation

Liu

Carpin

2016

Robotics and Autonomous Systems

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“…4) and the inner iteration (depicted by green line segments) at every outer iteration to determine σ k , p k , and n k necessary for calculating the scale factor η k by (14) or (15). Suppose that Algorithm 1 takes K outer iterations to reach the stopping criterion and N k inner iterations at an outer iteration to compute σ k , p k , and n k .…”

Section: ) Iteration Process: Seementioning

confidence: 99%

“…Computing the Euclidean penetration distance is not so easy as the Euclidean separation distance due to local minima. Some algorithms are specific to 3-D polyhedra [7], [8], while an algorithm for general compact convex sets was proposed in [15]. To facilitate the evaluation of penetration depth, other metrics, such as the one-norm and the infinity-norm, were used to define a distance measure [2], [16] such that the global minimum is easier to attain.…”

Section: Introductionmentioning

confidence: 99%

Generalized Distance Between Compact Convex Sets: Algorithms and Applications

Zheng

Yamane

2015

IEEE Trans. Robot.

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This paper presents algorithms to compute the generalized distance between two separated or penetrating compact convex sets, which is defined as the minimum or maximum scale factor of a given gauge set such that the scaled gauge set intersects or is contained in the Minkowski difference of the two sets. The traditional Euclidean distance is a special case where the origincentered unit ball is used as the gauge set. While the generalized distance was proposed almost a decade ago, the only practical method for its computation has been general-purpose numerical optimization, which is computationally expensive. In contrast, our geometry-based algorithms are efficient and guarantee globally optimal solutions. Important applications of the algorithms in robotics include collision detection and grasp planning. The algorithm for computing the penetration distance also provides an accurate and efficient approach to flatness error evaluation, which is a fundamental problem in manufacturing. We demonstrate that our algorithms possess superior efficiency and accuracy in these applications. space such as [6]-[8], we focus on the distance measures and computation in arbitrary n-dimensional space. A. Previous Work 1552-3098

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“…One of most used criterion is the maximum wrench that the grasp can resist in any direction (known as the criterion of the maximum ball) (Ferrari and Canny, 1992). Based on this criterion several works were proposed to evaluate grasps for 2D objects using frictionless (Cornellà and Suárez, 2009) and frictional (Zhu et al, 2001) contacts, and for 3D objects, either polyhedral or not polyhedral (Roa and Suárez, 2009;Zheng, 2013). Another criterion used as grasp quality measure is the Q distance, used to find optimal grasps for 2D and 3D objects (Zhu and Wang, 2003;Phoka et al, 2006).…”

Section: Introductionmentioning

confidence: 99%

Searching force-closure optimal grasps of articulated 2D objects with n links

Tovar

Suárez

2014

IFAC Proceedings Volumes

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This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality measure considered in this work is the largest perturbation wrench that a grasp can resist with independence of the direction of the perturbation. The approach has been implemented and some illustrative examples are included in the article.

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An Efficient Algorithm for a Grasp Quality Measure

Cited by 44 publications

References 21 publications

Partial convex hull algorithms for efficient grasp quality evaluation

Partial convex hull algorithms for efficient grasp quality evaluation

Generalized Distance Between Compact Convex Sets: Algorithms and Applications

Searching force-closure optimal grasps of articulated 2D objects with n links

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