[Lab Meeting] May 19th, 2008 (fish60): Learning Grasp Strategies with Partial Shape Information

Abstract:
We consider the problem of grasping novel objects incluttered environments.
...
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.

Link