Center-of-Mass-based Robust Grasp Planning for Unknown Objects Using Tactile-Visual Sensors
Qian Feng,Zhaopeng Chen,Jun Deng,Chunhui Gao,Jianwei Zhang,Alois Knoll,Qian Feng,Zhaopeng Chen,Jun Deng,Chunhui Gao,Jianwei Zhang,Alois Knoll
An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp planner with multi-sensor modules to plan grasp adjustments with the feedback from a slip detector. Then a regrasp planner is trained to estimate the location of cent...
