Grasp Planning in Complex Scenes

Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.


Download
  • Adobe portable document format (pdf) (4MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper combines grasp analysis and manipulation planning techniques to perform fast grasp planning in complex scenes. In much previous work on grasping, the object being grasped is assumed to be the only object in the environment. Hence the grasp quality metrics and grasping strategies developed do not perform well when the object is close to obstacles and many good grasps are infeasible. We introduce a framework for finding valid grasps in cluttered environments that combines a grasp quality metric for the object with information about the local environment around the object and information about the robot's kinematics. We encode these factors in a {\it grasp-scoring function} which we use to rank a precomputed set of grasps in terms of their appropriateness for a given scene. We show that this ranking is essential for efficient grasp selection and present experiments in simulation and on the HRP2 robot.

Keywords
manipulation, humanoids, motion planning

Notes
Sponsor: National Science Foundation
Grant ID: OISE-0714497
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Planning and Autonomy Lab
Associated Project(s): Planning for Manipulation

Text Reference
Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner, "Grasp Planning in Complex Scenes," IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.

BibTeX Reference
@inproceedings{Berenson_2007_5949,
   author = "Dmitry Berenson and Rosen Diankov and Koichi Nishiwaki and Satoshi Kagami and James Kuffner",
   title = "Grasp Planning in Complex Scenes",
   booktitle = "IEEE-RAS International Conference on Humanoid Robots (Humanoids07)",
   month = "December",
   year = "2007",
}