Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints
Raphael Grimm Markus Grotz Simon Ottenhaus Tamim Asfour Raphael Grimm Markus Grotz Simon Ottenhaus Tamim Asfour
Increasing the robustness of grasping actions and the recovery from failure is key to improving a robot’s autonomy. Endowing robots with the ability to robustly grasp and manipulate unknown difficult objects such as stones is required for sample collection in unknown environments. In this paper, we present a complete system for robust grasping of stones, which integrates stone segmentation based o...