Fast C-shape grasping for unknown objects
Qujiang Lei (TU Delft - Robust Robot Systems)
Jonathan Meijer
Martijn Wisse (TU Delft - Robust Robot Systems)
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Abstract
This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.