Rigid Grasp Candidate Generation for Assembly Tasks

A framework for tool cognition in robots without prior tool learning or observation

“…Grasp planning/generation is not studied in this paper, but interested readers can refer to [28,29] for related techniques.…”

“…Interested readers may refer to grasp planning/generation techniques in the literature, e.g. [28,29]. For simplicity and without loss of generality in our algorithm for tool augmentation optimization, we generated grasp candidates by placing them at regular intervals along the medial axis of the potential tool (see (22) in Sec.…”

“…Grasp candidates on the tool are assumed to be available in this paper (see e.g. [28,29] for grasp generation techniques).…”

“…(c) Overview of the proposed tool cognition framework enabled by key components comprising functionality feature acquisition, functionality feature detection, and tool augmentation optimization. Grasp candidates on the tool are assumed to be available in this paper (see e.g [28,29]. for grasp generation techniques).…”