FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time
Vincent Mayer,Qian Feng,Jun Deng,Yunlei Shi,Zhaopeng Chen,Alois Knoll,Vincent Mayer,Qian Feng,Jun Deng,Yunlei Shi,Zhaopeng Chen,Alois Knoll
Grasping unknown objects with multi-fingered hands at high success rates and in real-time is an unsolved problem. Existing methods are limited in the speed of grasp synthesis or the ability to synthesize a variety of grasps from the same observation. We introduce Five-finger Hand Net (FFHNet), an ML model which can generate a wide variety of high-quality multi-fingered grasps for unseen objects fr...
