Vision-Based In-Hand Manipulation of Variously Shaped Objects via Contact Point Prediction
Yuzuka Isobe,Sunhwi Kang,Takeshi Shimamoto,Yoshinari Matsuyama,Sarthak Pathak,Kazunori Umeda,Yuzuka Isobe,Sunhwi Kang,Takeshi Shimamoto,Yoshinari Matsuyama,Sarthak Pathak,Kazunori Umeda
In-hand manipulation (IHM) is an important ability for robotic hands. This ability refers to changing the position and orientation of a grasped object without dropping it from the hand workspace. One major challenge of IHM is to achieve a large range of manipulation (especially rotation), regardless of the shape, size, and the orientation during manipulation of the grasped object. There are two ma...
