A method for robotic grasping based on improved Gaussian mixture model.The present research envisages a method for the robotic grasping based on the improved Gaussian mixture model.  The improved Gaussian mixture model is a method proposed by incorporating Bayesian ideas into the Gaussian model. 
Gaussian mixture model
The improved Gaussian mixture model is a method proposed by incorporating Bayesian ideas into the Gaussian model. 
Bayesian ideas into the Gaussian model
Firstly, the observable variables of objects were determined by a camera. 
camera
A method for robotic grasping based on improved Gaussian mixture model.The present research envisages a method for the robotic grasping based on the improved Gaussian mixture model.  The proposed method improved the cumulative updates and the evaluation results of the improved models to make robots more adaptable to grasp in the untrained areas.  The self-taught learning ability of the robot about grasping was semi-supervised.  Then, we dragged the robot to grasp object.  The relationship between the variables and robot's joint angles were mapped.  With these new observable variables, the robot grasped it successfully.  Finally, the effectiveness of the method was verified by experiments and comparative tests on grasping of real objects and grasping simulation of the improved Gaussian models through the virtual robot experimentation platform.
robot
The relationship between the variables and robot's joint angles were mapped. 
joint angles
We obtained new samples in the close untrained area to improve the Gaussian model. 
new samples
Finally, the effectiveness of the method was verified by experiments and comparative tests on grasping of real objects and grasping simulation of the improved Gaussian models through the virtual robot experimentation platform.
virtual robot experimentation platform