Rotation Optimization on the Unit Quaternion Manifold and its Application for Robotic Grasping
P. Zech, H. Xiong and J. Piater
https://doi.org/10.19124/ima.2015.001.12
Abstract
In this paper we consider black-box optimization of objects’ grasp density functions relative to a gripper’s orientation. For this, we introduce Monte-Carlo Tree Search on the unit quaternion manifold. Our experimental evaluation shows that our method is feasible and allows finding grasps of arbitrary quality with regard to a fixed budget of objective function evaluations.