Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps
Jens Lundell Enric Corona Tran Nguyen Le Francesco Verdoja Philippe Weinzaepfel Grégory Rogez Francesc Moreno-Noguer Ville Kyrki Jens Lundell Enric Corona Tran Nguyen Le Francesco Verdoja Philippe Weinzaepfel Grégory Rogez Francesc Moreno-Noguer Ville Kyrki
While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the additional degrees of freedom of several fingers represents an important challenge that, so far, involves computationally costly and slow processes. In this work, we p...