Efficient Picking by Considering Simultaneous Two-Object Grasping
Takumi Sakamoto,Weiwei Wan,Takao Nishi,Kensuke Harada,Takumi Sakamoto,Weiwei Wan,Takao Nishi,Kensuke Harada
This paper presents a motion planning algorithm that enables robots to efficiently pick up objects by considering simultaneous multi-object grasping. At the center of the algorithm is a cost function that helps to determine one of the following three grasping policies considering distance and friction constraints – Grasping a single object; Grasping two objects simultaneously; Grasping two object ...
