Dynamic grasp analysis and profiling of Gazebo

Authors
Wang, Jielei
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Other Contributors
Trinkle, Jeffrey C.
Carothers, Christopher D.
Franklin, W. Randolph
Issue Date
2013-12
Keywords
Computer science
Degree
MS
Terms of Use
Attribution-NonCommercial-NoDerivs 3.0 United States
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
Full Citation
Abstract
Sometimes the simulations are very slow and sometimes are unstable. Thus we find it necessary to determine the bottleneck of the simulator which is another work presented in this thesis. Using a profiling tool, we are able to analyze the program and also the critical section of the code can be identified. We use OProfile as the profiling tool for Gazebo. We have also added our own timing library using the standard counter: rdtsc to ODE and counted the time that each function took in miliseconds within one time step when profiling ODE.
In this work, we consider dynamics and uncertainty of the pose of the object during grasp analysis of Atlas robot simulated in Gazebo. Considering dynamics is crucial during grasping process in dynamic environment as well as pose error of the object. The dynamic grasp analysis start with taking grasps from grasp database generated by GraspIt! which is based on static object assumption. We then evaluate the grasps using Monte Carlo simulation. The goal is to identify grasps selected by GraspIt! that are robust to object position uncertainty and accidental bump. We have shown from the result that the success rates of the grasps obtained from GraspIt! differ a lot when in dynamic environment.
Description
December 2013
School of Science
Department
Dept. of Computer Science
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
Access
CC BY-NC-ND. Users may download and share copies with attribution in accordance with a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License. No commercial use or derivatives are permitted without the explicit approval of the author.