Learning to grasp objects with multiple contact points

@article{Le2010LearningTG,
  title={Learning to grasp objects with multiple contact points},
  author={Quoc V. Le and David Kamm and A. F. Kara and Andrew Y. Ng},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={5062-5069}
}
We consider the problem of grasping novel objects and its application to cleaning a desk. A recent successful approach applies machine learning to learn one grasp point in an image and a point cloud. Although those methods are able to generalize to novel objects, they yield suboptimal results because they rely on motion planner for finger placements. In this paper, we extend their method to accommodate grasps with multiple contacts. This approach works well for many human-made objects because… CONTINUE READING
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