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- W2810588678 abstract "This work provides a framework for a workspace aware online grasp planner. This framework greatly improves the performance of standard online grasp planning algorithms by incorporating a notion of reachability into the online grasp planning process. Offline, a database of hundreds of thousands of unique end-effector poses were queried for feasability. At runtime, our grasp planner uses this database to bias the hand towards reachable end-effector configurations. The bias keeps the grasp planner in accessible regions of the planning scene so that the resulting grasps are tailored to the situation at hand. This results in a higher percentage of reachable grasps, a higher percentage of successful grasp executions, and a reduced planning time. We also present experimental results using simulated and real environments." @default.
- W2810588678 created "2018-07-10" @default.
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- W2810588678 date "2018-06-29" @default.
- W2810588678 modified "2023-09-22" @default.
- W2810588678 title "Workspace Aware Online Grasp Planning" @default.
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