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Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning
[article]
2018
arXiv
pre-print
Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact. Suction grasp planners often target planar surfaces on point clouds near the estimated centroid of an object. In this paper, we propose a compliant suction contact model that computes the quality of the seal between the suction cup and local target surface and a measure of the ability of the suction grasp
arXiv:1709.06670v2
fatcat:wolido6iijekdapthokhdhzjrq