Nattee Niparnan — accepted AI-conference papers

2015

Exact calculation for disturbance force rejection grasp quality measure

Mana Borwornpadungkitti, Watcharapol Watcharawisetkul, Nattee Niparnan, Attawith Sudsang

IROS 2015poster

We propose a novel method to calculate scalar version of the grasp quality measure proposed, which is the magnitude of minimal disturbance force applied to the object that breaks the grasp. This measurement is adopted in several works but all of them are essentially calculated by enumerating over di…

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2015

The quickgrasp algorithm for grasp synthesis

Watcharapol Watcharawisetkul, Mana Borwornpadungkitti, Nattee Niparnan, Attawith Sudsang

IROS 2015poster

This paper presents a general grasp synthesis algorithm. The algorithm follows a stochastic approach that calculate a large number of grasps with good quality in short amount of time. It takes as an input a 3D point cloud that represents the contact points of the object and heuristically selects con…

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