Sequential Trajectory Re-planning for Dexterous Grasping

This work, firstly, describes how to iteratively update localisation knowledge using tactile observations from a previous grasp attempt; secondly, shows how successive grasp trajectories can be planned with respect to these iteratively refined object poses; and, thirdly, shows how each reach-to-grasp trajectory can be deliberately planned to maximise new tactile information gain, while also reaching towards the expected grasp location derived from previous information.

#Robotics #PoseUncertainty #Planning #Contactpredictors #ReachtoGrasp