CPQNet: Contact Points Quality Network for Robotic Grasping
Zhihao Li,Pengfei Zeng,Jionglong Su,Qingda Guo,Ning Ding,Jiaming Zhang,Zhihao Li,Pengfei Zeng,Jionglong Su,Qingda Guo,Ning Ding,Jiaming Zhang
In typical data-based grasping methods, a grasp based on parallel-jaw grippers is parameterized by the center of the gripper, the rotation angle, and the gripper opening width so as to predict the quality and pose of grasps at every pixel. In contrast, a grasp is represented using only two contact points for contact-points-based grasp representation, which allows for fusion with tactile sensors mo...
