Automatic Acquisition of a Repertoire of Diverse Grasping Trajectories through Behavior Shaping and Novelty Search
Aurélien Morel,Yakumo Kunimoto,Alex Coninx,Stéphane Doncieux,Aurélien Morel,Yakumo Kunimoto,Alex Coninx,Stéphane Doncieux
Grasping a particular object may require a dedicated grasping movement that may also be specific to the robot end-effector. No generic and autonomous method does exist to generate these movements without making hypotheses on the robot or on the object. Learning methods could help to autonomously discover relevant grasping movements, but they face an important issue: grasping movements are so rare ...
