Transcript Emma report

What I’m doing
• Simulation and experiment validation on
frictional form closure metric for the proposal
– For simulation, loop through different initial
actuator orientation and record necessary data to
form grasping matrix G to decide frictional form
closure
– For experiment, update the vision detection code
to handle the pegs and rough collision detection
What’s next
• The data doesn’t look reasonable now, need
validation
• Refine the collision detection in the vision
code
• Other priorities for the proposal