Video about online grasp planning

Video about online grasp planning

Hey everyone!

There is a new video in the Demos section.

It demonstrates the calculation of finger angles for a multi-fingered hand via GPU-Voxels. The Swept-Volume collision tests allow to evaluate thousands of different grasp approaches per second. This is used by a hybrid Particle-Swarm-Optimization approach to find the best grasp (not shown in the video):

The video is additional material to our last paper “Eye in hand: Towards GPU accelerated online grasp planning based on pointclouds from in-hand sensor” that was presented on HUMANOIDS 2016.




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