Grasp space exploration method for an underactuated gripper using human initiated primitive grasps

Autor: Clément Rolinat, Mathieu Grossard, Saifeddine Aloui, Christelle Godin

Publikováno v: International Journal of Intelligent Robotics and Applications
International Journal of Intelligent Robotics and Applications, 2023, 7 (1), pp.31-47. ⟨10.1007/s41315-022-00265-9⟩

International audience; Grasp planning and most specifically the grasp space exploration when considering adaptive and underactuated multifingered grippers is still an open issue in robotics. This article describes an efficient procedure for explorin

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::16a121bb858585c2fcc8a3c087b42008
https://doi.org/10.1007/s41315-022-00265-9

Learning to model the grasp space of an underactuated robot gripper using variational autoencoder

Autor: Christelle Godin, Saifeddine Aloui, Clément Rolinat, Mathieu Grossard

Publikováno v: IFAC-Papers
IFAC-PapersOnLine, 2021, 19th IFAC Symposium on System Identification SYSID 2021, 54 (7), pp.523-528. ⟨10.1016/j.ifacol.2021.08.413⟩
IFAC-PapersOnLine, Elsevier, 2021, 19th IFAC Symposium on System Identification SYSID 2021, 54 (7), pp.523-528. ⟨10.1016/j.ifacol.2021.08.413⟩

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents a data-driven oriented methodology to model the grasp space of a multi-fingered adaptive gripper for known objects. This method

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e0d8f521f5a4282d635ea2caaad38607
https://cea.hal.science/cea-03347668/document