loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Diar Abdlkarim 1 ; 2 ; Valerio Ortenzi 3 ; Tommaso Pardi 2 ; Maija Filipovica 2 ; Alan M. Wing 2 ; Katherine J. Kuchenbecker 3 and Massimiliano Di Luca 2

Affiliations: 1 Obi Robotics Ltd, U.K. ; 2 University of Birmingham, U.K. ; 3 Max Planck Institute for Intelligent Systems, Stuttgart, Germany

Keyword(s): Robot Grasping, Simulation, Virtual Environment, Virtual Reality.

Abstract: The synthesis of realistic robot grasps in a simulated environment is pivotal in generating datasets that support sim-to-real transfer learning. In a step toward achieving this goal, we propose PrendoSim, an open-source grasp generator based on a proxy-hand simulation that employs NVIDIA’s physics engine (PhysX) and the recently released articulated-body objects developed by Unity (https://prendosim.github.io). We present the implementation details, the method used to generate grasps, the approach to operationally evaluate stability of the generated grasps, and examples of grasps obtained with two different grippers (a parallel jaw gripper and a three-finger hand) grasping three objects selected from the YCB dataset (a pair of scissors, a hammer, and a screwdriver). Compared to simulators proposed in the literature, PrendoSim balances grasp realism and ease of use, displaying an intuitive interface and enabling the user to produce a large and varied dataset of stable grasps.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.237.65.102

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Abdlkarim, D.; Ortenzi, V.; Pardi, T.; Filipovica, M.; Wing, A.; Kuchenbecker, K. and Di Luca, M. (2021). PrendoSim: Proxy-Hand-Based Robot Grasp Generator. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 60-68. DOI: 10.5220/0010549800600068

@conference{icinco21,
author={Diar Abdlkarim. and Valerio Ortenzi. and Tommaso Pardi. and Maija Filipovica. and Alan M. Wing. and Katherine J. Kuchenbecker. and Massimiliano {Di Luca}.},
title={PrendoSim: Proxy-Hand-Based Robot Grasp Generator},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={60-68},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010549800600068},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - PrendoSim: Proxy-Hand-Based Robot Grasp Generator
SN - 978-989-758-522-7
IS - 2184-2809
AU - Abdlkarim, D.
AU - Ortenzi, V.
AU - Pardi, T.
AU - Filipovica, M.
AU - Wing, A.
AU - Kuchenbecker, K.
AU - Di Luca, M.
PY - 2021
SP - 60
EP - 68
DO - 10.5220/0010549800600068
PB - SciTePress