Preparatory object reorientation for task-oriented grasping
IROS, pp. 893-899, 2016.
This paper describes a new task-oriented grasping method to reorient a rigid object to its nominal pose, which is defined as the configuration that it needs to be grasped from, in order to successfully execute a particular manipulation task. Our method combines two key insights: (1) a visual 6 Degree-of-Freedom (DoF) pose estimation techn...More
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