论文标题
一种基于模拟的新型质量指标，用于评估3D可变形物体上的掌握
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
论文作者
论文摘要
在可变形3D对象上的grasps评估是一个有点研究的问题，即使刚性对象的适用性掌握了可变形的质量措施是一个悬而未决的问题。大多数质量措施的一个核心问题是它们对可变形对象的接触点的依赖性取决于变形。本文提出了对可变形物体的掌握质量度量，该对象使用有关对象变形的信息来计算掌握质量。通过模拟抓握过程中的变形并预测抓地力和抓握物体之间的接触来评估GRASP。然后，将接触信息用作新的掌握质量指标的输入，以量化掌握质量。在Isaac Gym仿真和50多个现实世界中，该方法针对两个超过600个格拉斯普斯的两个经典刚体质量指标进行了基准测试。实验结果表明，与经典的刚体质量指标相比，可变形物体的掌握成功率的平均提高了18％。
Evaluation of grasps on deformable 3D 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 that uses information about object deformation to calculate the grasp quality. Grasps are evaluated by simulating the deformations during grasping and predicting the contacts between the gripper and the grasped object. The contact information is then used as input for a new grasp quality metric to quantify the grasp quality. The approach is benchmarked against two classical rigid-body quality metrics on over 600 grasps in the Isaac gym simulation and over 50 real-world grasps. Experimental results show an average improvement of 18\% in the grasp success rate for deformable objects compared to the classical rigid-body quality metrics.
