Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects
Jingyi Xu,Michael Danielczuk,Jeffrey Ichnowski,Jeffrey Mahler,Eckehard Steinbach,Ken Goldberg,Jingyi Xu,Michael Danielczuk,Jeffrey Ichnowski,Jeffrey Mahler,Eckehard Steinbach,Ken Goldberg
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging, as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as a novel grasp quality metric that combines wrench resistance and object deformation. We introduce an efficient algorithm to compute the work required to resist...
