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.