2018
Model-free and learning-free grasping by Local Contact Moment matching
Maxime Adjigble, Naresh Marturi, Valerio Ortenzi, Vijaykumar Rajasekaran, Peter Corke, Rustam Stolkin
IROS 2018poster
This paper addresses the problem of grasping arbitrarily shaped objects, observed as partial point-clouds, without requiring: models of the objects, physics parameters, training data, or other a-priori knowledge. A grasp metric is proposed based on Local Contact Moment (LoCoMo). LoCoMo combines zero…