Abstract
The synthesis of realistic robot grasps in a simulated environment is pivotal in generating datasets that support sim-to-real transfer learning. In a step toward achieving this goal, we propose PrendoSim, an open-source grasp generator based on a proxy-hand simulation that employs NVIDIA’s physics engine (PhysX) and the recently released articulated-body objects developed by Unity (https://prendosim.github.io). We present the implementation details, the method used to generate grasps, the approach to operationally evaluate stability of the generated grasps, and examples of grasps obtained with two different grippers (a parallel jaw gripper and a three-finger hand) grasping three objects selected from the YCB dataset (hammer, screwdriver, and scissors). Compared to simulators proposed in the literature, PrendoSim balances grasp realism and ease of use, displaying an intuitive interface and enabling the user to produce a large and varied dataset of stable grasps.
Original language | English |
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Title of host publication | Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics |
Editors | Oleg Gusikhin, Henk Nijmeijer, Kurosh Madani |
Publisher | SciTePress Digital Library |
Pages | 60-68 |
Number of pages | 9 |
ISBN (Electronic) | 9789897585227 |
DOIs | |
Publication status | Published - 2021 |
Event | 18th International Conference on Informatics in Control, Automation and Robotics - Online Duration: 6 Jul 2021 → 8 Jul 2021 http://www.icinco.org/ |
Conference
Conference | 18th International Conference on Informatics in Control, Automation and Robotics |
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Abbreviated title | ICINCO 2021 |
Period | 6/07/21 → 8/07/21 |
Internet address |
Keywords
- Robot grasping
- Simulation
- Virtual environment
- Virtual reality
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition