A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects

Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their dependence on contact points, which for deformable objects depend on the deformations. This paper proposes a grasp quality measure for deformable objects that uses information about object deformation to calculate the grasp quality. Grasps are evaluated by simulating the deformations during grasping and predicting the contacts between the gripper and the grasped object. The contact information is then used as input for a new grasp quality metric to quantify the grasp quality. The approach is benchmarked against two classical rigid-body quality metrics on over 600 grasps in the Isaac gym simulation and over 50 real-world grasps. Experimental results show an average improvement of 18% in the grasp success rate for deformable objects compared to the classical rigid-body quality metrics. Furthermore, the proposed approach is approximately fifteen times faster to calculate than the shake task, which, to date, is one of the most reliable approaches to quantify a grasp on a deformable object.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3123-3129
Number of pages7
ISBN (Electronic)9781665479271
DOIs
StatePublished - 2022
Event2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan
Duration: Oct 23 2022Oct 27 2022

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Country/TerritoryJapan
CityKyoto
Period10/23/2210/27/22

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects'. Together they form a unique fingerprint.

Cite this