Robust and fast generation of top and side grasps for unknown objects

18 Jul 2019Brice DenounBeatriz LeonClaudio ZitoRustam StolkinLorenzo JamoneMiles Hansard

In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate the effectiveness of our approach on a picking scenario on a real robot platform... (read more)

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