Enhancing Grasp Pose Computation in Gripper Workspace Spheres
M. Sorour,K. Elgeneidy,M. Hanheide,M. Abdalmjed,A. Srinivasan,G. Neumann,M. Sorour,K. Elgeneidy,M. Hanheide,M. Abdalmjed,A. Srinivasan,G. Neumann
In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spheres is presented. Our development requires a registered point cloud of the target from different views, assuming no prior knowledge of the object, nor any of its properties. This work features a new set of metrics for grasp pose candidates evaluation, as well as exploring the impact of high object sampl...
