PrendoSim: Proxy-Hand-Based Robot Grasp Generator

Diar Abdlkarim, Diar Abdlkarim, Valerio Ortenzi, Tommaso Pardi, Maija Filipovica, Alan Wing, Katherine Kuchenbecker, Massimiliano Di Luca

2021

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.

Paper Citation

in Harvard Style

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 - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 60-68. DOI: 10.5220/0010549800600068

in Bibtex Style

@conference{icinco21,
author={Diar Abdlkarim and Valerio Ortenzi and Tommaso Pardi and Maija Filipovica and Alan Wing and Katherine 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 - Volume 1: ICINCO,},
year={2021},
pages={60-68},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010549800600068},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - PrendoSim: Proxy-Hand-Based Robot Grasp Generator
SN - 978-989-758-522-7
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