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Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty
2018
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain, however, is likely to fail, since it is not possible to model the dynamics of the multi-body multi-contact physical system with enough accuracy, neither is it reasonable to expect robots to know the exact physical properties of objects, such as frictional, inertial,
doi:10.1109/humanoids.2018.8625041
dblp:conf/humanoids/AgbohD18
fatcat:zw6ihatmpbbqbhsumbk6tdglki