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Deformation-Aware Data-Driven Grasp Synthesis
[article]
2021
arXiv
pre-print
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate new potential grasps. How to achieve that on a robot is though an open question. This paper proposes an approach that uses object stiffness information in addition to depth images for synthesizing high-quality grasps. We achieve this by incorporating object
arXiv:2109.05320v1
fatcat:r7lljmp4praxvpzxdxlsv5pv2q