Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng.

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Presentation transcript:

Learning to grasp objects with multiple contact points Quoc V. Le, David Kamm, Arda Kara, Andrew Y. Ng

Robotic grasping Barrett Hand Saxena et al, IJRR (2008) Saxena et al, AAAI (2008)

Data Image dataDepth data Quigley et al, ICRA 2009

Features GoodBadSo

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

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