GOMP-ST: Grasp Optimized Motion Planning for Suction Transport

Suction cup grasping is very common in industry, but moving too quickly can cause suction cups to detach, causing drops or damage. Maintaining a suction grasp throughout a high-speed motion requires balancing suction forces against inertial forces while the suction cups deform under strain. In this...

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Veröffentlicht in:	arXiv.org 2022-03
Hauptverfasser:	Yahav Avigal, Ichnowski, Jeffrey, Cao, Max Yiye, Goldberg, Ken
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Constraint modelling Cups Deformation effects End effectors Failure Machine learning Motion planning Neural networks Optimization Suction
Online-Zugang:	Volltext
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