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Document type:
Preprint
Author(s):
Yannick Burkhardt, Qian Feng, Karan Sharma, Zhaopeng Chen, Alois Knoll
Title:
Multi-fingered Dynamic Grasping for Unknown Objects
Abstract:
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environ- ment stationarity, pre-defined objects, and low-dimensional end- effectors. Though easing the problem and enabling progress, it undermined the complexity of the real world. Aiming to relax these assumptions, we present a dynamic grasping framework for unknown obj...     »
Congress title:
2024 IEEE-RAS International Conference on Humanoid Robots
Journal title:
2024 IEEE-RAS International Conference on Humanoid Robots
Year:
2024
Fulltext / DOI:
doi: https://doi.org/10.48550/arXiv.2310.17923
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