Learning grasp stability

  title={Learning grasp stability},
  author={Hao Dang and Peter K. Allen},
  journal={2012 IEEE International Conference on Robotics and Automation},
We deal with the problem of blind grasping where we use tactile feedback to predict the stability of a robotic grasp given no visual or geometric information about the object being grasped. We first simulated tactile feedback using a soft finger contact model in GraspIt! [1] and computed tactile contacts of thousands of grasps with a robotic hand using the Columbia Grasp Database [2]. We used the K-means clustering method to learn a contact dictionary from the tactile contacts, which is a… CONTINUE READING
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