A Collision-Aware Cable Grasping Method in Cluttered Environment
Lei Zhang,Kaixin Bai,Qiang Li,Zhaopeng Chen,Jianwei Zhang,Lei Zhang,Kaixin Bai,Qiang Li,Zhaopeng Chen,Jianwei Zhang
We introduce a Cable Grasping-Convolutional Neural Network (CG-CNN) designed to facilitate robust cable grasping in cluttered environments. Utilizing physics simulations, we generate an extensive dataset that mimics the intricacies of cable grasping, factoring in potential collisions between cables and robotic grippers. We employ the Approximate Convex Decomposition technique to dissect the non-co...
