6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones
Jingyi Xu,Michael Danielczuk,Eckehard Steinbach,Ken Goldberg,Jingyi Xu,Michael Danielczuk,Eckehard Steinbach,Ken Goldberg
Analytic grasp planning algorithms typically approximate compliant contacts with soft point contact models to compute grasp quality, but these models are overly conservative and do not capture the full range of grasps available. While area contact models can reduce the number of false negatives predicted by point contact models, they have been restricted to a 3D analysis of the wrench applied at t...
