no code implementations • 5 Feb 2024 • Zehang Weng, Haofei Lu, Danica Kragic, Jens Lundell
We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates, and refines grasps on partial object point clouds.
1 code implementation • 17 Mar 2022 • Lukas Rustler, Jens Lundell, Jan Kristof Behrens, Ville Kyrki, Matej Hoffmann
We also propose a new simulation environment for this purpose.
no code implementations • 8 Mar 2021 • Jens Lundell, Francesco Verdoja, Ville Kyrki
Multi-finger grasping in cluttered scenes, on the other hand, remains mostly unexplored due to the added difficulty of reasoning over obstacles which greatly increases the computational time to generate high-quality collision-free grasps.
1 code implementation • 17 Dec 2020 • Jens Lundell, Enric Corona, Tran Nguyen Le, Francesco Verdoja, Philippe Weinzaepfel, Gregory Rogez, Francesc Moreno-Noguer, Ville Kyrki
While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic.
no code implementations • 15 Sep 2019 • Jens Lundell, Francesco Verdoja, Ville Kyrki
Current end-to-end grasp planning methods propose grasps in the order of seconds that attain high grasp success rates on a diverse set of objects, but often by constraining the workspace to top-grasps.
2 code implementations • 2 Mar 2019 • Jens Lundell, Francesco Verdoja, Ville Kyrki
We present a method for planning robust grasps over uncertain shape completed objects.
Robotics
1 code implementation • 13 Sep 2018 • Francesco Verdoja, Jens Lundell, Ville Kyrki
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation.
1 code implementation • 31 May 2018 • Jens Lundell, Francesco Verdoja, Ville Kyrki
However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the height the sensor is measuring.