Embedded systems

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Predicting the stability of a robotic hand grasp

This dataset was created to investigate the use of machine learning to predict the stability of a grasp.

Due to the limitations of the current simulation, it is a restricted dataset - only grasping a ball.

The dataset is annotated with an objective grasp quality and contains the different data gathered from the joints (position, velocity, effort).

An experiment consists of grasping the ball, shaking it for a while, while computing a grasp robustness (which is the variation of the distance between the palm and the ball during the shake).

28 measurements are taken during a given experiment. Only one robustness value is associated though.


Comparison of the results obtained with the Keras and NeurEco tools: