Robot Grasp Synthesis Under Object Pose Uncertainty

This paper addresses the problem of grasp synthesis for grasping objects considering both object pose uncertainty and object dynamics. These two factors greatly affect success or failure in a real-world robotic grasping and should be considered simultaneously. The proposed approach is based on simulation of grasping process assuming that the 3D model of the object is known. Object geometry is modelled using superquadrics. To evaluate grasp quality three different measures are utilised. The proposed grasp synthesis approach will be implemented and tested on a real robot with multi-fingered hand.