Reusability-based Semantics for Grasp Evaluation in Context of Service Robotics

摘要

In this paper a novel criterion for grasp evaluation is presented. Commonly used criteria for grasp evaluation take only forces into account. This way of describing a grasp is not intuitively usable by humans and does not consider the semantics of objects. The proposed criterion is based on the reusability of a grasped object. For example some grasps which might be form- or force-closure grasps may not be suitable with respect to a certain task, being executed after the object has been grasped. Our criterion closes this gap between force- stability and manageability. The reusability is defined via four typical tasks for a service robot scenario which represent some of the actions. It is more convenient for humans to use than the other force-based criteria, because the proposed actions are understandable by everybody and are not as abstract as force- based criteria. The actions themselves are defined by the forces occurring during operation performance and an additional keep- out-area if necessary.