Abstract
Simulation is essential for different robotic research fields such as mobile robotics, motion planning and grasp planning. For grasping in particular, there are no software simulation packages, which provide a holistic environment that can deal with the variety of aspects associated with this problem. These aspects include development and testing of new algorithms, modeling of the environments and robots, including the modeling of actuators, sensors and contacts. In this paper, we present a new simulation toolkit for grasping and dexterous manipulation called OpenGRASP addressing those aspects in addition to extensibility, interoperability and public availability. OpenGRASP is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely-used technologies and standards. In addition, a designated editor has been created for the generation and migration of such models. We demonstrate the current state of OpenGRASP’s development and its application in a grasp evaluation environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Gerkey, B., Vaughan, R., Howard, A.: The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. In: 11th International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, pp. 317–323 (2003)
Gazebo, http://playerstage.sourceforge.net/index.php?src=gazebo
Microsoft Robotics Studio, http://msdn.microsoft.com/robotics
The Player Project, http://playerstage.sourceforge.net/wiki/Main/_Page
Webots, http://www.cyberbotics.com/
OpenGRASP, http://opengrasp.sourceforge.net/
Miller, A., Allen, P.: GraspIt!: A versatile simulator for robotic grasping. IEEE Robotics & Automation Magazine 11, 110–122 (2004)
Diankov, R., Kuffner, J.: OpenRAVE: A Planning Architecture for Autonomous Robotics. Technical report, Robotics Institute, Pittsburgh, PA (2008)
PAL (Physics Abstraction Layer), http://www.adrianboeing.com/pal
COLLADA, http://collada.org
Khronos Group, http://www.khronos.org/
Boeing, A., Bräunl, T.: Evaluation of real-time physics simulation systems. In: 5th international Conference on Computer Graphics and Interactive Techniques in Australia and Southeast Asia (GRAPHITE 2007), Perth, Australia, pp. 281–288 (2007)
Blender, http://Blender.org
Gaiser, I., Schulz, S., Kargov, A., Klosek, H., Bierbaum, A., Pylatiuk, C., Oberleand, R., Werner, T., Asfour, T., Bretthauer, G., Dillmann, R.: A new anthropomorphic robotic hand. In: IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 418–422 (2008)
Illusoft: Blender Collada Plugin, http://colladablender.illusoft.com/cms/
Blender - Google Summer of Code (2009), http://www.blendernation.com/blender-google-summer-of-code-2009/
OpenCOLLADA, http://www.opencollada.org/
Otto Bock, http://www.ottobock.de/cps/rde/xchg/ob_de_de/hs.xsl/384.html
GRASP Project, http://www.csc.kth.se/grasp/
OpenRAVE website, http://openrave.programmingvision.com/
Björkmann, M., Kragic, D.: Active 3D scene segmentation and Detection of Unknown Objects. In: International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA (2010)
Papazov, C., Burschka, D.: Stochastic Optimization for Rigid Point Set Registration. In: Bebis, G., Boyle, R., Parvin, B., Koracin, D., Kuno, Y., Wang, J., Pajarola, R., Lindstrom, P., Hinkenjann, A., Encarnação, M.L., Silva, C.T., Coming, D. (eds.) ISVC 2009. LNCS, vol. 5876, pp. 1043–1054. Springer, Heidelberg (2009)
Richtsfeld, M., Vincze, M.: Grasping of Unknown Objects from a Table Top. In: ECCV Workshop on ’Vision in Action: Efficient strategies for cognitive agents in complex environments’, Marseille, France (2008)
Przybylski, M., Asfour, T., Dillmann, R.: Unions of Balls for Shape Approximation in Robot Grasping. To appear in IROS (2010)
Asfour, T., Regenstein, K., Azad, P., Schröder, J., Vahrenkamp, N., Dillmann, R.: ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control. In: IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 169–175 (2006)
Asfour, T., Welke, K., Azad, P., Ude, A., Dillmann, R.: The Karlsruhe Humanoid Head. In: IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 447–453 (2008)
Kasper, A., Becher, R., Steinhaus, P., Dillmann, R.: Developing and Analyzing Intuitive Modes for Interactive Object Modeling. In: International Conference on Multimodal Interfaces (2007), http://i61www.ira.uka.de/ObjectModels
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
León, B. et al. (2010). OpenGRASP: A Toolkit for Robot Grasping Simulation. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_13
Download citation
DOI: https://doi.org/10.1007/978-3-642-17319-6_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17318-9
Online ISBN: 978-3-642-17319-6
eBook Packages: Computer ScienceComputer Science (R0)