Linda Ludovisi
Learning Task Oriented Grasp for objects of common use.
Rel. Barbara Caputo, Giuseppe Bruno Averta, Fabio Cermelli. Politecnico di Torino, Corso di laurea magistrale in Data Science And Engineering, 2022
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Abstract
Recent advances in Robotics research are pushing the boundaries of machines applicability more and more toward the deployment of autonomous dexterous robots in our everyday life. However, this comes with significant conceptual and practical difficulties related to the interaction with the humans and the surrounding word. Of note, the latter is shaped to be functional to its usability by humans: just think of objects of daily living, that are made to afford a specific grasp type for a selection of possible tasks. However, state of the art method usually limit the robot-objects interactions to a mere pick and place of objects, while little has been done to learn how to grasp an object depending on the envisioned task.
Yet, a human that is grasping a knife would implement a completely different strategy depending if the intention is to cut a meal or just pass it to a fellow
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