4 citations · 12 across the 9 of their papers we have counts for
8 papers · 1 filter
Learn to Grasp with Less Supervision: A Data-Efficient Maximum Likelihood Grasp Sampling Loss
Xinghao Zhu, Yefan Zhou, Yongxiang Fan +3
Robotic grasping for a diverse set of objects is essential in many robot manipulation tasks. One promising approach is to learn deep grasping models from large training datasets of…
6-DoF Contrastive Grasp Proposal Network
Xinghao Zhu, Lingfeng Sun, Yongxiang Fan +1
Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is ch…
Optimization Model for Planning Precision Grasps with Multi-Fingered Hands
Yongxiang Fan, Xinghao Zhu, Masayoshi Tomizuka
Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud,…
Efficient Grasp Planning and Execution with Multi-Fingered Hands by Surface Fitting
Yongxiang Fan, Masayoshi Tomizuka
This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a gr…
A Learning Framework for Robust Bin Picking by Customized Grippers
Yongxiang Fan, Hsien-Chung Lin, Te Tang +1
Customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized gri…
Real-Time Grasp Planning for Multi-Fingered Hands by Finger Splitting
Yongxiang Fan, Te Tang, Hsien-Chung Lin +1
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not afford…
Grasp Planning for Customized Grippers by Iterative Surface Fitting
Yongxiang Fan, Hsien-Chung Lin, Te Tang +1
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to inc…
Real-Time Robust Finger Gaits Planning under Object Shape and Dynamics Uncertainties
Yongxiang Fan, Te Tang, Hsien-Chung Lin +2
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform large-scale manipulation tasks for various objects, a multi-fingered robotic…