Vision-Based Grasping Benchmark

The grasp simulator

The grasps are performed in simulation using RobWork. The figure on the right gives some stills illustrating the simulator. The home page contains a movie showing the simulator in action.

RobWork is a simulator for robotic grasping with dynamics capabilities, which has been used in several related experiments [1-3]. The simulator has been shown to be very realistic in [2], where several thousands of grasps with a parallel gripper in a real robotic setup have been compared to the simulation.


[1] J. Jorgensen, L. Ellekilde, and H. Petersen (2010) Robworksim - an open simulator for sensor based grasping.In Proceedings of Automate 2011, Chicago, Illinois.

[2] L. Ellekilde and J. Jorgensen (2011) Usage and verification of grasp simulation for industrial automation In Proceedings of 42st International Symposium on Robotics (ISR), Chicago.

[3] Mila Popović, Gert Kootstra, Jimmy Alison Jørgensen, Danica Kragic, Norbert Krüger (2011) Grasping Unknown Objects Using an Early Cognitive Vision System for General Scene Understanding. In: Proceedings of the International Conference on Intelligent RObots and Systems (IROS), September 25-30, 2011, San Francisco, CA. pdf

Gert Kootstra, Mila Popović, Jimmy Alison Jørgensen, Danica Kragic, Norbert Krüger