

Robotfingerprint
Overview :
RobotFingerPrint is an innovative representation method for multi-robot grasp synthesis that utilizes a unified coordinate space. It employs latitude and longitude as coordinates, creating a two-dimensional surface of a sphere in three-dimensional space, shared by all robotic arms. This technology establishes a correspondence between the robotic arms and objects by mapping the palm surfaces to the unified coordinate space and designing a conditional variational autoencoder to predict unified coordinates for given input objects. It effectively solves optimization problems related to grasp postures and finger joint configurations, significantly enhancing the success rate and diversity of grasp synthesis for various robotic arms.
Target Users :
The target audience includes robotics engineers, automation production line designers, and researchers. This technology simplifies the grasp synthesis problem for robotic arms through a unified coordinate space, enabling designers to efficiently plan grasping tasks and improve automation production efficiency.
Use Cases
On an automated production line, use RobotFingerPrint technology to plan the grasping actions of robotic arms, enhancing assembly line efficiency.
Researchers utilize this technology for experimental studies on robotic hand grasp tasks, exploring new grasping strategies.
In robotics education, use this technology as a teaching case to help students understand the principles and applications of robotic grasping.
Features
Create a unified robotic hand coordinate space using latitude and longitude as coordinates.
Map the palm surfaces of robotic hands to the unified coordinate space through algorithms.
Design a conditional variational autoencoder to predict unified coordinates.
Solve optimization problems for grasp postures and finger joints.
Increase the success rate and diversity of grasp synthesis.
Applicable to various robotic hands, with broad application prospects.
How to Use
Visit the project code repository IRVLUTD and clone or download the project code.
Set up the Isaac Gym grasp evaluation environment following the GenDexGrasp guidelines.
Configure grasp evaluation parameters with a learning rate of 0.1 and a step size of 0.02.
Download the surface point coordinates and other metadata files for the robotic hand from Box.com.
Read and follow the README file provided in the dataset folder for overall setup.
Combine the downloaded dataset with the project code to conduct grasp synthesis experiments.
Adjust algorithm parameters based on experimental results to optimize grasp synthesis outcomes.
Record experimental data and write a report or paper on the findings.
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