@inproceedings{e5b5cac57a494346add1fe4157e7c746,
title = "A data-driven grasp planning method based on Gaussian Process Classifier",
abstract = "This paper presents a grasp planning method for grasping novel objects from point clouds provided by the Kinect camera. By applying machine learning, the planning method can generate two points which represent the contact point and direction of grasp. This method is based on three components: 1) grasp configuration which can present the location of contact points and the direction of grasp, 2) features which take force closure and grasp stability into account, and 3) Gaussian Process Classifier which is used to calculate the grasp quality by using the features of each grasp configuration. Two experiments are carried out to verify our method. The results demonstrate that the robot using this approach can successfully grasp objects with partial point clouds.",
keywords = "Gaussian Process, force-closure, grasp planning, point clouds, robotic grasping",
author = "Liyun Li and Weidong Wang and Yanyu Su and Zhijiang Du",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237901",
language = "英语",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2626--2631",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "美国",
}