Abstract:
We consider the problem of grasping novel objects incluttered environments.
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In this paper,we propose an approach to grasping that estimates thestability of different grasps, given only noisy estimatesof the shape of visible portions of an object, such as thatobtained from a depth sensor. By combining this witha kinematic description of a robot arm and hand, ouralgorithm is able to compute a specific positioning ofthe robot’s fingers so as to grasp an object.
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