Certified grasping
Name
2023-IJRR-Certified Grasping-final-prePrint.pdf
Description
Accepted version
Size
2.27 MB
Format
Adobe PDF
Checksum (MD5)
2c30bc6e92890b3a581e7589c37feffb
Author(s)
Aceituno-Cabezas, Bernardo
Ballester, Jose
Rodriguez, Alberto
Date Issued
April 2023
Journal
The International Journal of Robotics Research
Publisher
SAGE Publications
Citation
Aceituno-Cabezas B, Ballester J, Rodriguez A. Certified grasping. The International Journal of Robotics Research. 2023;42(4-5):249-262.
Version
Author's final manuscript
Abstract
This paper studies the robustness of grasping in the frictionless plane from a geometric perspective. By treating grasping as a process that shapes the free-space object over time, we define three types of certificates to guarantee success of a grasp: (a) invariance under an initial set, (b) convergence toward a goal grasp, and (c) observability over the final object pose. We develop convex-combinatorial models for each of these certificates, which can be expressed as simple semi-algebraic relations under mild-modeling assumptions, such as point-fingers and frictionless contact. By leveraging these models to synthesize certificates, we optimize certifiable grasps of planar objects composed as a union of convex polygons, using manipulators described as point-fingers. We validate this approach in simulations by grasping random polygons, and with real sensorless grasps of several objects.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1177/02783649231155952
