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simmediumgraspingmetric · varies
Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking
Description
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect to the object, grasping the dynamically moving object, or co-manipulating the object together with a human. Fast and accurate 6D pose estimation is crucial to achieve smooth and stable robot control in such situations. The contributions of this work are three