DISF: Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning with Grasp Pose Alignment to the Object Center of Mass
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution, often resulting in unstable grasps due to inadequate contact configurations. To overcome this limitation, we propose a novel surface fitting algorithm that integrates contact stability while preserving geometric compatibility.
Evidence notes
- In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution, often resulting in unstable grasps due to inadequate contact configurations. To overcome this limitation, the study proposes a novel surface fitting algorithm that integrates contact stability while preserving geometric compatibility.
- UR3e is used in the study's data-collection or experimental dataset workflow.
Company context
Universal Robots develops collaborative robot arms for flexible automation in industrial and commercial environments.