Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

A regret model applied to the maximum capture location problem

This article addresses issues related to location and allocation problems. Herein, we intend to demonstrate the influence of congestion, through the random number generation, of such systems in final solutions. An algorithm is presented which, in addition to the GRASP, incorporates the Regret with the pminmax method to evaluate the heuristic solution obtained with regard to its robustness for different scenarios. Taking as our point of departure the Maximum Capture Location Problem proposed by Church and Revelle [1, 26], an alternative perspective is added in which the choice behavior of the server does not depend only on the elapsed time from the demand point looking to the center, but includes also the service waiting time.N/

A regret model applied to the facility location problem with limited capacity facilities

This article addresses issues related to location and allocation problems. Herein, we intend to demonstrate the influence of congestion, through the random number generation, of such systems in final solutions. An algorithm is presented which, in addition to the GRASP, incorporates the Regret with the pminmax method to evaluate the heuristic solution obtained with regard to its robustness for different scenarios. Taking as our point of departure the Facility Location Problem proposed by Balinski [27], an alternative perspective is added associating regret values to particular solutions.N/

Grasp input optimization taking contact position and object information uncertainties into consideration

This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and frictional condition. We then include external wrench uncertainties in the required external wrenches set. Based on this formulation, we define the linear grasp optimization problem for two kinds of frictional contact modelsfrictional point contact and soft finger contactso that we can successfully grasp an object even if deviations in contact point, object weight, and center of mass occur. The validity of our approach is shown by means of numerical examples and the result of experiments. © 2004-2012 IEEE