Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand
Ashok M. Sundaram,Werner Friedl,Máximo A. Roa,Ashok M. Sundaram,Werner Friedl,Máximo A. Roa
This paper deals with the problem of planning grasp strategies on constrained and cluttered scenarios. The planner sequences the objects for grasping by considering multiple factors: (i) possible environmental constraints that can be exploited to grasp an object, (ii) object neighborhood, (iii) capability of the arm, and (iv) confidence score of the vision algorithm. To successfully exploit the en...
