Grasp that optimises objectives along post-grasp trajectories

by   Amir M Ghalamzan E, et al.

In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort mavrakis2016analysis and (iii) impact force in case of a collision during post-grasp manipulative actions. In these works, the main assumption is that a manipulation task, i.e. trajectory of the centre of mass (CoM) of an object is given. In addition, inertial properties of the object to be manipulated is known. For example, a robot needs to pick an object located at point A and place it at point B by moving it along a given path. Therefore, the problem to be solved is to find an initial grasp pose that yields the maximum kinematic manipulation capability, minimum joint effort and effective mass along a given post-grasp trajectories. However, these objectives may conflict in some cases making it impossible to obtain the best values for all of them. We perform a series of experiments to show how different objectives change as the grasping pose on an object alters. The experimental results presented in this paper illustrate that these objectives are conflicting for some desired post-grasp trajectories. This indicates that a detailed multi-objective optimization is needed for properly addressing this problem in a future work.


page 1

page 5


Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation

This paper proposes a novel approach to performing in-grasp manipulation...

Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing

Lifting objects, whose mass may produce high wrist torques that exceed t...

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions

The pipeline of current robotic pick-and-place methods typically consist...

Target-mass Grasping of Entangled Food using Pre-grasping Post-grasping

Food packing industries typically use seasonal ingredients with immense ...

Dual Quaternion-Based Visual Servoing for Grasping Moving Objects

This paper presents a new dual quaternion-based formulation for pose-bas...

SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion

Multi-objective optimization problems are ubiquitous in robotics, e.g., ...

Efficient Grasp Planning and Execution with Multi-Fingered Hands by Surface Fitting

This paper introduces a framework to plan grasps with multi-fingered han...

Please sign up or login with your details

Forgot password? Click here to reset