抓取规划

机器人抓取的原理与算法：抓取度量、力封闭、对映抓取、分析式抓取规划和基于学习的抓取预测。

Learning Objectives

1. Grasp Fundamentals

1.1 What Makes a Good Grasp?

1.2 Contact Models (Point, Friction Cone)

1.3 Force Closure & Form Closure

2. Analytical Grasp Planning

2.1 Antipodal Grasps

2.2 Grasp Wrench Space

2.3 Grasp Quality Metrics

3. Grasp Planning from Point Clouds

3.1 GPD (Grasp Pose Detection)

3.2 PointNetGPD

4. Learning-Based Grasping

4.1 GraspNet

4.2 DexNet

4.3 AnyGrasp

5. Dexterous Grasping

5.1 Multi-Finger Grasp Planning

5.2 In-Hand Manipulation

6. Grasp Simulation & Sim-to-Real

7. ROS 2 Grasp Pipeline

Exercises

References