Learning-Based Real-Time Torque Prediction for Grasping Unknown Objects with a Multi-Fingered Hand
Dominik Winkelbauer,Berthold Bäuml,Rudolph Triebel,Dominik Winkelbauer,Berthold Bäuml,Rudolph Triebel
When grasping objects with a multi-finger hand, it is crucial for the grasp stability to apply the correct torques at each joint so that external forces are countered. Most current systems use simple heuristics instead of modeling the required torque correctly. Instead, we propose a learning-based approach that is able to predict torques for grasps on unknown objects in real-time. The neural netwo...
