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SGDN: Segmentation-Based Grasp Detection Network For Unsymmetrical Three-Finger Gripper [article]

Dexin Wang
2020 arXiv   pre-print
In this paper, we present Segmentation-Based Grasp Detection Network (SGDN) to predict a feasible robotic grasping for a unsymmetrical three-finger robotic gripper using RGB images.  ...  It is also more suitable for unsymmetrical three-finger gripper which cannot grasp symmetrically when grasping some objects, the grasp angle is at [0, 2π) instead of [0, π) of parallel plate gripper.In  ...  We introduce a novel one-stage network named SGDN for detecting good robotic grasping for unsymmetrical three-finger gripper using oriented base-fixed triangle grasp representation.  ... 
arXiv:2005.08222v1 fatcat:ujksrcdktbezjfi5m5loitbity