Contact-Stable Grasp Planning with Grasp Pose Alignment
Analysis
This paper addresses a key limitation in surface fitting-based grasp planning: the lack of consideration for contact stability. By disentangling the grasp pose optimization into three steps (rotation, translation, and aperture adjustment), the authors aim to improve grasp success rates. The focus on contact stability and alignment with the object's center of mass (CoM) is a significant contribution, potentially leading to more robust and reliable grasps. The validation across different settings (simulation with known and observed shapes, real-world experiments) and robot platforms strengthens the paper's claims.
Key Takeaways
- •Proposes a novel surface fitting algorithm (DISF) for grasp planning.
- •Integrates contact stability into the grasp planning process.
- •Disentangles grasp pose optimization into three sequential steps.
- •Validates the approach in simulation and real-world experiments.
- •Demonstrates improved grasp success rates compared to baselines.
“DISF reduces CoM misalignment while maintaining geometric compatibility, translating into higher grasp success in both simulation and real-world execution compared to baselines.”