Efficient sensory-grounded grasp pose quality mapping for gripper design and online grasp planning
详细信息 查看全文
- 作者：Danny Eizicovits ; Dannyeiz@bgu.post.ac.il" class="auth_mailAuthor Vitae ; Sigal BermanAuthor Vitae
- 关键词：Robotic manipulators ; Grasping ; Graspability map
- 刊名：Robotics and Autonomous Systems
- 出版年：August 2014
- 年：2014
- 卷：62
- 期：8
- 页码：1208-1219
- 全文大小：3334 K
文摘
- •
Mapping wrist pose grasp quality supports gripper design and grasp planning.
- •
Quality measures are tied to the robots’ perception capabilities.
- •
Quality measures are computed from the segmented 3D point cloud of the object.
- •
Scanning the object’s surface results in low computation time and high map quality.
- •
The method is suitable for arbitrary object shapes.