The pose that the end effector must be at to be able to grasp and pick up the object.
Note: The competition allows re-grasping, if the object is dropped, the robot may make multiple attempts.
Research
Papers
A summary of papers that propose methods for grasp point synthesis, inputs, and outputs.
Definition of Grasp (Bohg et al. 2014)
the grasping point on the object with which the tool center point should be aligned;
the approach vector which describes the 3-D angle with which the robot hand approaches the grasping point;
the wrist orientation of the robotic hand;
an initial finger configuration
Grasping method type (Sahbani et al. 2012)
We are using Empirical methods of grasping based on object observations.
Murali et al. 2020
Empirical method that includes re-grasping
ROS
A list of ROS Packages for the same purpose.
GraspIt!
Requirement
Grasp Points
Research
Papers
A summary of papers that propose methods for grasp point synthesis, inputs, and outputs.
Definition of Grasp (Bohg et al. 2014)
Grasping method type (Sahbani et al. 2012)
Murali et al. 2020
ROS
A list of ROS Packages for the same purpose. GraspIt!
A different ROS Grasp Method
A Matlab Toolbox: SynGrasp SynGrasp Paper