learning to grasp objects with multiple contact points quoc v. le, david kamm, arda kara, andrew y....
Post on 15-Jan-2016
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![Page 1: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/1.jpg)
Learning to grasp objects with multiple contact points
Quoc V. Le,David Kamm, Arda Kara, Andrew Y. Ng
![Page 2: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/2.jpg)
Robotic grasping
Barrett Hand
Saxena et al, IJRR (2008)Saxena et al, AAAI (2008)
![Page 3: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/3.jpg)
Data
Image data Depth data
Quigley et al, ICRA 2009
![Page 4: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/4.jpg)
Features
Good BadSo So
![Page 5: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/5.jpg)
Angle computation
![Page 6: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/6.jpg)
Problems
Shadows
Different objects
![Page 7: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/7.jpg)
More features
Distance between contact points
Depth variations and image variations
Collision detection
![Page 8: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/8.jpg)
Grasp point ranking
Use ranking algorithms for ranking grasp points Optimize metric that focuses on the top pairs
![Page 9: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/9.jpg)
Experiments
![Page 10: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/10.jpg)
Offline experiments
Advantages of optimization metric
Advantages of new features
![Page 11: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/11.jpg)
Experimental results
![Page 12: Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng](https://reader036.vdocument.in/reader036/viewer/2022070412/56649d4b5503460f94a28277/html5/thumbnails/12.jpg)
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