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Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand

Meenakshi Sundaram, Ashok and Friedl, Werner and Roa Garzon, Máximo Alejandro (2020) Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp. 9377-9384. IEEE. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, 25-29 October 2020, Las Vegas, USA. doi: 10.1109/IROS45743.2020.9340689. ISBN 978-172816212-6. ISSN 2153-0858.

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This paper deals with the problem of planning grasp strategies on constrained and cluttered scenarios. The planner sequences the objects for grasping by considering multiple factors: (i) possible environmental constraints that can be exploited to grasp an object, (ii) object neighborhood, (iii) capability of the arm, and (iv) confidence score of the vision algorithm. To successfully exploit the environmental constraints, this work uses the CLASH hand, a compliant hand that can vary its passive stiffness. The hand can be softened such that it can comply with the object shape, or it can be stiffened to pierce between the objects in clutter. A stiffness decision tree is introduced to choose the best stiffness setting for each particular scenario. In highly cluttered scenarios, a finger position planner is used to find a suitable orientation for the hand such that the fingers can slide in the free regions around the object. Thus, the grasp strategy planner predicts not only the sequence in which the objects can be grasped, but also the required stiffness of the end effector, and the appropriate positions for the fingers around the object. Different experiments are carried out in the context of grocery handling to test the performance of the planner in scenarios that require different grasping strategies.

Item URL in elib:https://elib.dlr.de/139964/
Document Type:Conference or Workshop Item (Lecture, Speech)
Title:Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Meenakshi Sundaram, AshokAshok.MeenakshiSundaram (at) dlr.deUNSPECIFIED
Friedl, WernerWerner.Friedl (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:October 2020
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/IROS45743.2020.9340689
Page Range:pp. 9377-9384
Keywords:robotic manipulation, grasping, grasp planning
Event Title:IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Event Location:Las Vegas, USA
Event Type:international Conference
Event Dates:25-29 October 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:27 Dec 2020 23:50
Last Modified:11 Mar 2022 15:40

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