learning to grasp objects with multiple contact points quoc v. le, david kamm, arda kara, andrew y....
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Learning to grasp objects with multiple contact points
Quoc V. Le,David Kamm, Arda Kara, Andrew Y. Ng
Robotic grasping
Barrett Hand
Saxena et al, IJRR (2008)Saxena et al, AAAI (2008)
Data
Image data Depth data
Quigley et al, ICRA 2009
Features
Good BadSo So
Angle computation
Problems
Shadows
Different objects
More features
Distance between contact points
Depth variations and image variations
Collision detection
Grasp point ranking
Use ranking algorithms for ranking grasp points Optimize metric that focuses on the top pairs
Experiments
Offline experiments
Advantages of optimization metric
Advantages of new features
Experimental results
Videos
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