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Evaluation
Evaluation
We evaluated the grasping strategy with the following objects.
Evaluation Part A: Tap Grasping
Evaluation Part A: Tap Grasping
Grasping is performed via a tapping motion with DenseTact-Mini on to an object.
Object 1: Basil Seed
Object 1: Basil Seed
Successful grasp for 52 out of 52 trialsÂ
(100% success rate)
Object 2: M1.6 Nut
Object 2: M1.6 Nut
Succesful grasp for 48 out of 51 trials
(94.11% success rate)
Object 3: M2 Nut
Object 3: M2 Nut
Succesful grasp for 46 out of 51 trials
(90.2% success rate)
Evaluation Part B: Fingernail GraspingÂ
Evaluation Part B: Fingernail GraspingÂ
Grasping is performed using two DenseTact-Mini sensors, one of them has a fingernail attached. A scooping motion lifts the object.
Object 1: Paperclip
Object 1: Paperclip
Succesful grasp for 48 out of 51 trials
(94.12% success rate)
Object 2: Small Wrench
Object 2: Small Wrench
Succesful grasp for 46 out of 51 trials
(90.2% success rate)
Object 3: Dime
Object 3: Dime
Succesful grasp for 54 out of 57 trials
(94.74% success rate)
Object 4: CR2032 Battery
Object 4: CR2032 Battery
Succesful grasp for 50 out of 53 trials
(94.34% success rate)
Evaluation Part C: Fingertip Grasping
Evaluation Part C: Fingertip Grasping
Two DenseTact-Mini sensors are brought together to lift a small object imitating a two-fingertip grasp.
Object: Bearing
Object: Bearing
Succesful grasp for 50 out of 53 trials
(94.34% success rate)
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