Post content

GSC

Grasp Stabilization and Control (GSC). GSC makes it possible to use an advanced manipulator out of the box in most situations. Based on an incoming 3D point cloud, a segmentation algorithm is first applied. Once the user selects which objects she wants to grasp, a recognition algorithm is run on the cluster to try to identify the object from a database of previously learned objects. If the object is recognised, then a list of pre-computed grasps is loaded. If the object is not recognised, then a list of possible grasps are computed based on a mesh reconstructed from the segmented point cloud. Based on this list of grasps, the GSC framework then selects the best possible grasp automatically and executes it carefully.

Website: