Learning Pregrasp Manipulation of Objects from Ungraspable Poses
Zhaole Sun,Kai Yuan,Wenbin Hu,Chuanyu Yang,Zhibin Li,Zhaole Sun,Kai Yuan,Wenbin Hu,Chuanyu Yang,Zhibin Li
In robotic grasping, objects are often occluded in ungraspable configurations such that no feasible grasp pose can be found, e.g. large flat boxes on the table that can only be grasped once lifted. Inspired by human bimanual manipulation, e.g. one hand to lift up things and the other to grasp, we address this type of problems by introducing pregrasp manipulation – push and lift actions. We propose...
