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

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


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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