首页|New Robotics and Automation Data Have Been Reported by Investigators at Scuola S uperiore Sant’Anna (Enabling Grasp Synthesis Approaches To Task-oriented Graspin g Considering the end-state Comfort and confidence Effects)
New Robotics and Automation Data Have Been Reported by Investigators at Scuola S uperiore Sant’Anna (Enabling Grasp Synthesis Approaches To Task-oriented Graspin g Considering the end-state Comfort and confidence Effects)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Current study results on Robotics - Ro botics and Automation have been published. According to news reporting out of Pi sa, Italy, by NewsRx editors, research stated, “Choosing a good grasp is fundame ntal for accomplishing robotic grasping and manipulation tasks. Typically, the g rasp synthesis is addressed separately from the planning phase, which can lead t o failures during the execution of the task.” Our news journalists obtained a quote from the research from Scuola Superiore Sa nt’Anna, “In addition, most of the current grasping approaches privilege stabili ty metrics, providing unsuitable grasps for executing subsequent tasks. The prop osed work presents a framework for high-level reasoning to select the best-suite d grasp depending on the task. The best grasp is chosen among a set of grasp can didates by solving an optimization problem, considering the environmental constr aints, and guaranteeing the end-state comfort and the confidence effects for the task, similar to human behavior. The framework leverages Generalized Bender Dec omposition to decouple the main non-linear optimization problem into sub-problem s, thus presenting a modular structure. The method is validated with an experime ntal campaign using three different state-of-the-art grasping algorithms and thr ee low-level motion planners in three different types of tasks: pick-and-place i n a constrained environment, handover/tool-use, and object re-orientation.”
PisaItalyEuropeRobotics and Automa tionRoboticsScuola Superiore Sant’Anna
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