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Evaluation and selection of grasp quality criteria for dexterous manipulation

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Abstract

The development of algorithms capable of automatically generating optimal grasp involves first of all the necessity to define the notion of optimal grasp in relation to the target task. To address this problem, the scientific community offers many quality criteria in the literature and continues to propose new ones for grasp synthesis purpose. This paper aims at proposing a synthesis and a fine analysis of the quality criteria useful to evaluate a grasp in a context of adaptive gras**, as well as in the perspective of in-hand manipulation. These criteria are divided in two categories, the first one has 11 criteria and focuses exclusively on the location of contact points while the second one has 5 criteria and takes into account the kinematics of the robotic hand as well. Evaluation of the criteria is proposed with a common evaluation framework based on reference objects and reference manipulation tasks. The evaluation and illustration of the resulting grasps with the different criteria allow to appreciate the physical meaning of each of these criteria with this common evaluation framework. In order to reduce the number of criteria to be used in the context of a gras** synthesis process, a correlation study is carried out. The results show that several criteria in the literature are strongly correlated. Four criteria are finally chosen. Thus, to demonstrate the relevance of the selected criteria, a grasp synthesis process is used for in-hand manipulation purpose. An evolutionary approach is used to solve this multi-criteria optimization problem. The approach is validated in the OpenRAVE simulation environment and then demonstrated with the new RoBioSS hand: a fully actuated dexterous robotic hand with four fingers and sixteen degrees of freedom. Experimental results illustrate the relevance of the choice of these criteria to produce robust grasps leading to stable in-hand manipulations with large amplitudes.

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The videos are available using the YouTube links referenced in the article.

Funding

This work has been sponsored by the French government research program “Investissements d’Avenir” through the Robotex Equipment of Excellence (ANR-10-EQPX-44). It is also supported by the Nouvelle Aquitaine Region (program “CPER Numeric”), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund) and French National Research Agency (ANR) through the SEAHAND program (ANR-15-CE10-0004) and Mach4 program (ANR-18-LCV2-0003).

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Authors and Affiliations

  1. Institut Pprime, Department GMSC, Université de Poitiers, Futuroscope, Poitiers, France

    H. Mnyussiwalla, P. Seguin, P. Vulliez & J. P. Gazeau

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  1. H. Mnyussiwalla
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  2. P. Seguin
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  3. P. Vulliez
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  4. J. P. Gazeau
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The 4 authors of the article contributed to the overall results and worked jointly on the subject within the same research team at the PPRIME Institute. See authors short CV at the end of the paper.

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Correspondence to J. P. Gazeau.

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Our control software is registered with APP. APP (Agence de Protection des Programmes) is a European organization for the protection of authors and publishers of digital creations. The Software “«RTRobMultiAxisControl» was registered in 2018 with the deposit number IDDN. FR.001.300012.000.S.P.2018.000.31235. A licence agreement can be discussed for research or industrial purpose. The software is discussed in [39].

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Mnyussiwalla, H., Seguin, P., Vulliez, P. et al. Evaluation and selection of grasp quality criteria for dexterous manipulation. J Intell Robot Syst 104, 20 (2022). https://doi.org/10.1007/s10846-021-01554-4

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