Learning to grasp objects with multiple contact points

Quoc V. Le,David Kamm, Arda Kara, Andrew Y. Ng

Robotic grasping

Barrett Hand

Saxena et al, IJRR (2008)Saxena et al, AAAI (2008)

Data

Image data Depth dataQuigley et al, ICRA 2009

Features

Good BadSo So

Angle computation

Problems

Shadows

Different objects

More features

Distance between contact points

Depth variations and image variations

Collision detection

Grasp point ranking

Use ranking algorithms for ranking grasp points Optimize metric that focuses on the top pairs

Experiments

Offline experiments

Advantages of optimization metric

Advantages of new features

Experimental results

Videos