FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
Albert H. Li,Preston Culbertson,Joel W. Burdick,Aaron D. Ames,Albert H. Li,Preston Culbertson,Joel W. Burdick,Aaron D. Ames
Many approaches to grasp synthesis optimize analytic quality metrics that measure grasp robustness based on finger placements and local surface geometry. However, generating feasible dexterous grasps by optimizing these metrics is slow, often taking minutes. To address this issue, this paper presents FRoGGeR: a method that quickly generates robust precision grasps using the min-weight metric, a no...
