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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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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



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