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ICS Research Seminar on "Grasping Posture Estimation for a Parallel Soft Gripper using a Curved Contact Area Friction Model"

18.04.2017


ICS Research Seminar on "Grasping Posture Estimation for a Parallel Soft Gripper using a Curved Contact Area Friction Model" by Jingyi Xu. 

Abstract: We present a friction model for the curved contact area between a deformable object and soft parallel gripper jaws for grasping posture estimation. We show that the assumption of a planar contact area leads to an overestimation of the frictional force and torque, which might cause the object to slip. We simulate the contact with the Finite Element Method, then compute the friction wrenches, which are fitted with two limit surface models: an ellipsoid and a convex 4th-order polynomial. Despite a slightly higher fitting error, the ellipsoid limit surface is chosen to compute the grasp quality because of its simplicity. We compare the limit surfaces of our friction model with the planar contact model and show the improved accuracy obtainable with our model. We then apply the presented model for grasping posture estimation by simulating the contact for all grasp candidates. We show a grasp quality map (quality of all grasp candidates) and the best possible grasp location for several deformable objects.

Short Bio: Jingyi Xu studied Electrical Engineering and Information Technology at Technical University of Munich. She received the Bachelor of Science (B.Sc.) degree in 2012 and the Master of Science (M.Sc.) degree in 2014. In November 2014, she joined the Chair of Media Technology at Technical University of Munich as a member of the research staff. Her research interests are grasp planning for robotics and visual-haptic sensing.

For more info please see: web.ics.ei.tum.de/~ehrlich/ICS_seminar/index.htm

21. April 2017 Time: 10:00 h Place: ICS Karlstraße 45, 2. Floor, ICS media room