OpenGRASP: A Toolkit for Robot Grasping Simulation
- Cite this paper as:
- 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
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.
Keywordssoftware toolkit grasping simulation robot modeling
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