Grasp Pose Selection Under Region Constraints for Dirty Dish Grasps Based on Inference of Grasp Success Probability through Self-Supervised Learning
Shumpei Wakabayashi,Shingo Kitagawa,Kento Kawaharazuka,Takayuki Murooka,Kei Okada,Masayuki Inaba,Shumpei Wakabayashi,Shingo Kitagawa,Kento Kawaharazuka,Takayuki Murooka,Kei Okada,Masayuki Inaba
In the literature on object grasping, the robot often determines the grasp point and posture from visual information. They predict the grasping point uniquely from the object's shape characteristics. However, as a practical matter, there are cases where there are constraints on grasp point due to the object states, the limitation of the robot's hardware and the surrounding environment. In this stu...
