{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:06:30Z","timestamp":1760346390139},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2014,5,22]],"date-time":"2014-05-22T00:00:00Z","timestamp":1400716800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,6]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>It has become a common practice to use simulation to generate large databases of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables the generation of high quality grasps that can be used in several different contexts such as bin-picking or picking objects from a table, has to our knowledge not yet been discussed in the literature.<\/jats:p><jats:p>In this paper, we investigate how well the quality of grasps simulated in a commonly used \u201cgeneric\u201d context transfers to a specific context, both, in simulation and in the real world.<\/jats:p><jats:p>We generate a large database of grasp hypotheses for several objects and grippers, which we then evaluate in different dynamic simulation contexts e.g., free floating (no gravity, no obstacles), standing on a table and lying on a table.<\/jats:p><jats:p>We present a comparison on the intersection of the grasp outcome space across the different contexts and quantitatively show that to generate reliable grasp databases, it is important to use context specific simulation.<\/jats:p><jats:p>We furthermore evaluate how well a state of the art grasp database transfers from two simulated contexts to a real world context of picking an object from a table and discuss how to evaluate transferability into non-deterministic real world contexts.<\/jats:p>","DOI":"10.1017\/s0263574714001192","type":"journal-article","created":{"date-parts":[[2014,5,22]],"date-time":"2014-05-22T09:55:52Z","timestamp":1400752552000},"page":"1131-1146","source":"Crossref","is-referenced-by-count":1,"title":["On transferability and contexts when using simulated grasp databases"],"prefix":"10.1017","volume":"33","author":[{"given":"Jimmy A.","family":"Rytz","sequence":"first","affiliation":[]},{"given":"Lars-Peter","family":"Ellekilde","sequence":"additional","affiliation":[]},{"given":"Dirk","family":"Kraft","sequence":"additional","affiliation":[]},{"given":"Henrik G.","family":"Petersen","sequence":"additional","affiliation":[]},{"given":"Norbert","family":"Kr\u00fcger","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,5,22]]},"reference":[{"key":"S0263574714001192_ref25","unstructured":"J. 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IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2008 (Sep. 2008) pp. 2252\u20132257.","DOI":"10.1109\/IROS.2008.4651062"},{"key":"S0263574714001192_ref16","volume-title":"Proceedings for the Joint Conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics)","author":"J\u00f8rgensen","year":"2010"},{"key":"S0263574714001192_ref9","first-page":"1","article-title":"Learning grasp affordance densities","volume":"2","author":"Detry","year":"2011","journal-title":"Paladyn"},{"key":"S0263574714001192_ref20","unstructured":"C. Goldfeder , M. Ciocarlie , H. Dang and P. K. Allen , \u201cThe Columbia Grasp Database,\u201d ICRA '09. IEEE International Conference on Robotics and Automation, 2009 (2009) pp. 1710\u20131716."},{"key":"S0263574714001192_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241860"},{"key":"S0263574714001192_ref11","doi-asserted-by":"crossref","unstructured":"K. Huebner , S. Ruthotto and D. Kragic , \u201cMinimum Volume Bounding Box Decomposition for Shape Approximation in Robot Grasping,\u201d IEEE International Conference on Robotics and Automation, 2008. ICRA 2008 (2008) pp. 1628\u20131633.","DOI":"10.1109\/ROBOT.2008.4543434"},{"key":"S0263574714001192_ref10","unstructured":"D. Wren and R. B. Fisher , \u201cPlanning dextrous hand precision grasps from range data, using preshaping and finger trajectories,\u201d Proceedings of the Symposium Intelligent Robotic Systems (SIRS95) (1995)."},{"key":"S0263574714001192_ref23","first-page":"2010","article-title":"Contact-Reactive Grasping of Objects with Partial Shape Information","volume":"10","author":"Hsiao","year":"2010","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"S0263574714001192_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308797"},{"key":"S0263574714001192_ref8","doi-asserted-by":"crossref","unstructured":"H. Kruger , E. Rimon and A. F. van der Stappen , \u201cLocal Force Closure,\u201d 2012 IEEE International Conference on Robotics and Automation (ICRA) (May 2012) pp. 4176 \u20134182.","DOI":"10.1109\/ICRA.2012.6225091"},{"key":"S0263574714001192_ref3","doi-asserted-by":"crossref","unstructured":"C. Goldfeder , M. Ciocarlie , J. Peretzman , H. Dang and P. K. Allen , \u201cData-Driven Grasping with Partial Sensor Data,\u201d IROS 2009. IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2009 (Oct. 2009) pp. 1278\u20131283.","DOI":"10.1109\/IROS.2009.5354078"},{"key":"S0263574714001192_ref2","doi-asserted-by":"crossref","unstructured":"D. Berenson , R. Diankov , K. Nishiwaki , S. Kagami and J. Kuffner , \u201cGrasp Planning in Complex Scenes,\u201d 2007 7th IEEE-RAS International Conference on Humanoid Robots (29 2007\u2013dec. 1 2007) pp. 42\u201348.","DOI":"10.1109\/ICHR.2007.4813847"},{"key":"S0263574714001192_ref14","first-page":"54","article-title":"VisGraB: A benchmark for vision-based grasping","volume":"3","author":"Kootstra","year":"2012","journal-title":"Paladyn"},{"key":"S0263574714001192_ref1","doi-asserted-by":"crossref","unstructured":"A. Morales , T. Asfour , P. Azad , S. Knoop and R. Dillmann , \u201cIntegrated Grasp Planning and Visual Object Localization for a Humanoid Robot with Five-Fingered Hands,\u201d 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems (Oct. 2006) pp. 5663\u20135668.","DOI":"10.1109\/IROS.2006.282367"},{"key":"S0263574714001192_ref15","first-page":"155","volume-title":"Gearing Up and Accelerating Crossfertilization between Academic and Industrial Robotics Research in Europe:","author":"Kraft","year":"2014"},{"key":"S0263574714001192_ref17","volume-title":"Technical Report","author":"Su\u00e1rez","year":"2006"},{"key":"S0263574714001192_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/0005-2795(75)90109-9"},{"key":"S0263574714001192_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9228-1"},{"key":"S0263574714001192_ref21","unstructured":"J. A. J\u00f8rgensen and H. Petersen , \u201cUsage of Simulations to Plan Stable Grasping of Unknown Objects with a 3-Fingered Schunk Hand,\u201d Workshop on Robot Simulators (IROS08) (2008)."},{"key":"S0263574714001192_ref4","first-page":"1710","volume-title":"ICRA","author":"Goldfeder","year":"2009"},{"key":"S0263574714001192_ref24","volume-title":"Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics","author":"J\u00f8rgensen","year":"2010"},{"key":"S0263574714001192_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912445831"},{"key":"S0263574714001192_ref7","first-page":"557","volume-title":"ICRA","author":"Weisz","year":"2012"},{"key":"S0263574714001192_ref22","unstructured":"A. Morales , M. Prats , P. Sanz and A. P. Pobil , \u201cAn Experiment in the use of Manipulation Primitives and Tactile Perception for Reactive Grasping,\u201d Robotics: Science and Systems, Workshop on Robot Manipulation: Sensing and Adapting to the Real World, Atlanta, USA (2007)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001192","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,10]],"date-time":"2019-08-10T18:54:13Z","timestamp":1565463253000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001192\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,22]]},"references-count":27,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2015,6]]}},"alternative-id":["S0263574714001192"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001192","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,22]]}}}