A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
Tran Nguyen Le,Jens Lundell,Fares J. Abu-Dakka,Ville Kyrki,Tran Nguyen Le,Jens Lundell,Fares J. Abu-Dakka,Ville Kyrki
Evaluation of grasps on deformable $3\mathrm{D}$ objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their dependence on contact points, which for deformable objects depend on the deformations. This paper proposes a grasp quality measure for deformable objects th...
