Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder
Clément Rolinat Mathieu Grossard Saifeddine Aloui Christelle Godin Clément Rolinat Mathieu Grossard Saifeddine Aloui Christelle Godin
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable grasps given a known object pose. This procedure relies on a limited dataset of manually specified expert grasps, and use a mixed analytic and data-driven approach ...