Improving Grasp Classification through Spatial Metrics Available from Sensors
Nigel Swenson Garrett Scott Peter Bloch Paresh Soni Nuha Nishat Anjali Asar Cindy Grimm Xiaoli Fern Ravi Balasubramanian Nigel Swenson Garrett Scott Peter Bloch Paresh Soni Nuha Nishat Anjali Asar Cindy Grimm Xiaoli Fern Ravi Balasubramanian
We present a method for classifying the quality of near-contact grasps using spatial metrics that are recoverable from sensor data. Current methods often rely on calculating precise contact points, which are difficult to calculate in real life, or on tactile sensors or image data, which may be unavailable for some applications. Our method, in contrast, uses a mix of spatial metrics that do not dep...