Grasp adjustment on novel objects using tactile experience from similar local geometry

@article{Dang2013GraspAO,
  title={Grasp adjustment on novel objects using tactile experience from similar local geometry},
  author={Hao Dang and Peter K. Allen},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4007-4012}
}
Due to pose uncertainty, merely executing a planned-to-be stable grasp usually results in an unstable grasp in the physical world. In our previous work [1], we proposed a tactile experience based grasping pipeline which utilizes tactile feedback to adjust hand posture during the grasping task of known objects and improves the performance of robotic grasping under pose uncertainty. In this paper, we extend our work to grasp novel objects by utilizing local geometric similarity. To do this, we… CONTINUE READING
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