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We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space.
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M. A. Roa and R. Suárez, “Grasp quality measures: review and performance,” Auto. Robot. , vol. 38, no. 1, pp. 65–88, 2015
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H. Dai, G. Izatt, and R. Tedrake, “Global inverse kinematics via mixed-integer convex optimization,” Int. J. Robot. Res. , vol. 38, no. 12-13, pp. 1420–1441, 2019
2019
Closest in time.
A. Varava, J. F. Carvalho, F. T. Pokorny, and D. Kragic, “Caging and path non-existence: a deterministic sampling-based verification algorithm,” in Robot. Res. , 2019, pp. 589–604
2019
Closest in time.
M. Liu, Z. Pan, K. Xu, K. Ganguly, and D. Manocha, “Generating grasp poses for a high-dof gripper using neural networks,” in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. , 2019, pp. 1518–1525
2019
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Q. Lu, K. Chenna, B. Sundaralingam, and T. Hermans, “Planning multi-fingered grasps as probabilistic inference in a learned deep network,” in Robot. Res. , 2020, pp. 455–472
2020
Closest in time.