Contact-reactive grasping of objects with partial shape information

  title={Contact-reactive grasping of objects with partial shape information},
  author={Kaijen Hsiao and Sachin Chitta and Matei T. Ciocarlie and Edward Gil Jones},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
Robotic grasping in unstructured environments requires the ability to select grasps for unknown objects and execute them while dealing with uncertainty due to sensor noise or calibration errors. In this work, we propose a simple but robust approach to grasp selection for unknown objects, and a reactive adjustment approach to deal with uncertainty in object location and shape. The grasp selection method uses 3D sensor data directly to determine a ranked set of grasps for objects in a scene… CONTINUE READING
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