Learning to grasp objects with multiple contact points - PowerPoint PPT Presentation

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Learning to grasp objects with multiple contact points

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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 ... – PowerPoint PPT presentation

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Title: Learning to grasp objects with multiple contact points


1
Learning to grasp objects with multiple contact
points
  • Quoc V. Le,
  • David Kamm, Arda Kara, Andrew Y. Ng

2
Robotic grasping
Saxena et al, IJRR (2008) Saxena et al, AAAI
(2008)
Barrett Hand
3
Data
Image data
Depth data
Quigley et al, ICRA 2009
4
Features
Good
Bad
So So
5
Angle computation
6
Problems
Shadows
Different objects
7
More features
  • Distance between contact points
  • Depth variations and image variations
  • Collision detection

8
Grasp point ranking
  • Use ranking algorithms for ranking grasp points
  • Optimize metric that focuses on the top pairs

9
Experiments
10
Offline experiments
  • Advantages of optimization metric
  • Advantages of new features

11
Experimental results
12
Videos
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