One main problem in the field of robotic grasping is to teach a robot how to grasp a particular object; in fact, this depends not only on the object geometry, but also on the end-effector properties. Different methods to generate grasp trajectories (way-points made by end-effector positions and its joint values) have been investigated such as kinaesthetic teaching, grasp recording using motion capture systems, and others. Although these method could potentially lead to a good trajectory, usually they are only able to give a good initial guess for a successful grasp: in fact, obtained trajectories seldom transfer well to the robot without further processing. In this work, we propose a ROS/Gazebo based interactive framework to create and modify grasping trajectories for different robotic end-effectors. This tool allows to shape the various way-points of a considered trajectory, and test it in a simulated environment, leading to a trial-and-error procedure and eventually to the real hardware application.

Human driven robot grasping: An interactive framework

MARINO, HAMAL;SETTIMI, ALESSANDRO;GABICCINI, MARCO
2016-01-01

Abstract

One main problem in the field of robotic grasping is to teach a robot how to grasp a particular object; in fact, this depends not only on the object geometry, but also on the end-effector properties. Different methods to generate grasp trajectories (way-points made by end-effector positions and its joint values) have been investigated such as kinaesthetic teaching, grasp recording using motion capture systems, and others. Although these method could potentially lead to a good trajectory, usually they are only able to give a good initial guess for a successful grasp: in fact, obtained trajectories seldom transfer well to the robot without further processing. In this work, we propose a ROS/Gazebo based interactive framework to create and modify grasping trajectories for different robotic end-effectors. This tool allows to shape the various way-points of a considered trajectory, and test it in a simulated environment, leading to a trial-and-error procedure and eventually to the real hardware application.
2016
Marino, Hamal; Settimi, Alessandro; Gabiccini, Marco
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/840993
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