Task-Oriented Grasping with Point Cloud Representation of Objects
Aditya Patankar,Khiem Phi,Dasharadhan Mahalingam,Nilanjan Chakraborty,IV Ramakrishnan,Aditya Patankar,Khiem Phi,Dasharadhan Mahalingam,Nilanjan Chakraborty,IV Ramakrishnan
In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during manipulation, and it is also ensured that adequate force/moment can be applied to perform the task. We formalize the notion of a gross manipulation task as a c...
