Learning-Based Real-Time Torque Prediction for Grasping Unknown Objects with a Multi-Fingered Hand
Dominik Winkelbauer,
Berthold Bäuml,
Rudolph Triebel
Abstract:When grasping objects with a multi-finger hand, it is crucial for the grasp stability to apply the correct torques at each joint so that external forces are countered. Most current systems use simple heuristics instead of modeling the required torque correctly. Instead, we propose a learningbased approach that is able to predict torques for grasps on unknown objects in real-time. The neural network, trained end-to-end using supervised learning, is shown to predict torques that are more efficient, and the objec… Show more
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