| Autor: |
Tuscher, Marc, Hörz, Julian, Driess, Danny, Toussaint, Marc |
| Rok vydání: |
2021 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
Robotic manipulation of unknown objects is an important field of research. Practical applications occur in many real-world settings where robots need to interact with an unknown environment. We tackle the problem of reactive grasping by proposing a method for unknown object tracking, grasp point sampling and dynamic trajectory planning. Our object tracking method combines Siamese Networks with an Iterative Closest Point approach for pointcloud registration into a method for 6-DoF unknown object tracking. The method does not require further training and is robust to noise and occlusion. We propose a robotic manipulation system, which is able to grasp a wide variety of formerly unseen objects and is robust against object perturbations and inferior grasping points. |
| Databáze: |
arXiv |
| Externí odkaz: |
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