Efficient sensory-grounded grasp pose quality mapping for gripper design and online grasp planning
Mapping wrist pose grasp quality supports gripper design and grasp planning. Quality measures are tied to the robots perception capabilities. Quality measures are computed from the segmented 3D point cloud of the object. Scanning the objects surface results in low computation time and high map quality. The method is suitable for arbitrary object shapes.
grasping robotic manipulators graspability map