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Learning to grasp objects with multiple contact points

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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Learning to grasp objects with multiple contact points

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

  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 So So Bad

  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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