Quoc v le david kamm arda kara andrew y ng
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Learning to grasp objects with multiple contact points PowerPoint PPT Presentation


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Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng. Learning to grasp objects with multiple contact points. Robotic grasping. Saxena et al, IJRR (2008) Saxena et al, AAAI (2008). Barrett Hand. Data. Image data. Depth data. Quigley et al, ICRA 2009. Features. Good. So So. Bad.

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Learning to grasp objects with multiple contact points

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Quoc v le david kamm arda kara andrew y ng

Quoc V. Le,

David Kamm, Arda Kara, Andrew Y. Ng

Learning to grasp objects with multiple contact points


Robotic grasping

Robotic grasping

Saxena et al, IJRR (2008)

Saxena et al, AAAI (2008)

Barrett Hand


Learning to grasp objects with multiple contact points

Data

Image data

Depth data

Quigley et al, ICRA 2009


Features

Features

Good

So So

Bad


Angle computation

Angle computation


Problems

Problems

Shadows

Different objects


More features

More features

  • Distance between contact points

  • Depth variations and image variations

  • Collision detection


Grasp point ranking

Grasp point ranking

  • Use ranking algorithms for ranking grasp points

  • Optimize metric that focuses on the top pairs


Experiments

Experiments


Offline experiments

Offline experiments

  • Advantages of optimization metric

  • Advantages of new features


Experimental results

Experimental results


Videos

Videos


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