Part-based grasp planning for familiar objects

Abstract

In this work, we present a part-based grasp planning approach that is capable of generating grasps that are applicable to multiple familiar objects. We show how object models can be decomposed according to their shape and local volumetric information. The resulting object parts are labeled with semantic information and used for generating robotic grasping… (More)
DOI: 10.1109/HUMANOIDS.2016.7803382

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