PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are limited in their adaptability across different object categorie...

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Veröffentlicht in:	arXiv.org 2024-08
Hauptverfasser:	Ding, Kairui, Chen, Boyuan, Wu, Ruihai, Li, Yuyang, Zhang, Zongzheng, Huan-ang Gao, Li, Siqi, Zhou, Guyue, Zhu, Yixin, Dong, Hao, Zhao, Hao
Format:	Artikel
Sprache:	eng
Schlagworte:	Fingers Grasping (robotics) Grippers Robustness (mathematics)
Online-Zugang:	Volltext
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