QuickGrasp segments object point clouds into planes, selects anti-parallel contact patches, and scores them with a new force-closure cost, achieving comparable force-closure rates to GPD with deterministic behavior.
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-Based Grasp Data Set,
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QuickGrasp: Lightweight Antipodal Grasp Planning with Point Clouds
QuickGrasp segments object point clouds into planes, selects anti-parallel contact patches, and scores them with a new force-closure cost, achieving comparable force-closure rates to GPD with deterministic behavior.