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Learning to grasp objects with multiple contact points

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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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Presentation Transcript
robotic grasping
Robotic grasping

Saxena et al, IJRR (2008)

Saxena et al, AAAI (2008)

Barrett Hand

slide3
Data

Image data

Depth data

Quigley et al, ICRA 2009

features
Features

Good

So So

Bad

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
offline experiments
Offline experiments
  • Advantages of optimization metric
  • Advantages of new features
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