Nicolas Alt — accepted AI-conference papers

2018

Learning-Based Modular Task-Oriented Grasp Stability Assessment

Jingyi Xu, Amit Bhardwaj, Ge Sun, Tamay Aykut, Nicolas Alt, Mojtaba Karimi +1

IROS 2018poster

Assessing grasp stability is essential to prevent the failure of robotic manipulation tasks due to sensory data and object uncertainties. Learning-based approaches are widely deployed to infer the success of a grasp. Typically, the underlying model used to estimate the grasp stability is trained for…

Cited by 8 Source ↗Scholar ↗

2017

Grasping posture estimation for a two-finger parallel gripper with soft material jaws using a curved contact area friction model

Jingyi Xu, Nicolas Alt, Zhongyao Zhang, Eckehard Steinbach

ICRA 2017poster

We present a friction model for the curved contact area between a deformable object and soft parallel gripper jaws for grasping posture estimation. We show that the assumption of a planar contact area leads to an overestimation of the frictional force and torque, which might cause the object to slip…

Cited by 12 Source ↗Scholar ↗