Dynamic Grasping with Reachability and Motion Awareness
Iretiayo Akinola,Jingxi Xu,Shuran Song,Peter K. Allen,Iretiayo Akinola,Jingxi Xu,Shuran Song,Peter K. Allen
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in computation makes prediction necessary. In this paper, we present a dynamic grasping framework that is reachability-aware and motion-aware. Specifically, we model the re...
