Goal-oriented grasping in clutter with human-in-the-loop implementation

• Main Author: Wang, Yi
• Other Authors: Ang Wei Tech
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Computer science and engineering; Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/157999
• Institution: Nanyang Technological University

For people with motor impairment, robotic arms can act as body surrogates to aid with everyday tasks. However, teleoperation of a high-DoF robotic arm using low-DoF controllers is tedious. Even with the integration of autonomous motion planners and grasp planners, the operation is difficult in a clu...