Abstract:This paper presents a novel approach for the automatic offline grasp pose synthesis on known rigid objects for parallel jaw grippers. We use several criteria such as gripper stroke, surface friction, and a collision check to determine suitable 6D grasp poses on an object. In contrast to most available approaches, we neither aim for the best grasp pose nor for as many grasp poses as possible, but for a highly diverse set of grasps distributed all along the object. In order to accomplish this objective, we emplo… Show more
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