OpenGRASP: a toolkit for robot grasping simulation

Authors:
Beatriz León;Stefan Ulbrich;Rosen Diankov;Gustavo Puche;Markus Przybylski;Antonio Morales;Tamim Asfour;Sami Moisio;Jeannette Bohg;James Kuffner;Rüdiger Dillmann
Affiliations:
Universitat Jaume I, Robotic Intelligence Laboratory, Castellón, Spain;Karlsruhe Institute of Technology, Institute for Anthropomatics, Karlsruhe, Germany;Carnegie Mellon University, Institute for Robotics;Universitat Jaume I, Robotic Intelligence Laboratory, Castellón, Spain;Karlsruhe Institute of Technology, Institute for Anthropomatics, Karlsruhe, Germany;Universitat Jaume I, Robotic Intelligence Laboratory, Castellón, Spain;Karlsruhe Institute of Technology, Institute for Anthropomatics, Karlsruhe, Germany;Lappeenranta University of Technology, Centre of Computational Engineering and Integrated Design, Finland;Royal Institute of Technology, Computer Vision and Active Vision Laboratory, Stockholm, Sweden;Carnegie Mellon University, Institute for Robotics;Karlsruhe Institute of Technology, Institute for Anthropomatics, Karlsruhe, Germany
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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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.