The grasp simulatorThe 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 , where several thousands of grasps with a parallel gripper in a real robotic setup have been compared to the simulation.
References J. Jorgensen, L. Ellekilde, and H. Petersen (2010) Robworksim - an open simulator for sensor based grasping.In Proceedings of Automate 2011, Chicago, Illinois.
 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.
 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