Precision grasping based on probabilistic models of unknown objects
Dong Chen, Vincent Dietrich, Georg von Wichert
Abstract
Reliable precision grasping for unknown objects is a prerequisite for robots that work in the field of logistics, manufacturing and household tasks. The nature of this task requires a simultaneous solution of a mixture of sub-problems. These include estimating object properties, finding viable grasps and executing grasps without displacement. We propose to explicitly take perceptual uncertainty into account during grasp execution. The underlying object representation is a probabilistic signed distance field, which includes both signed distances to the surface and spatially interpretable variances. Based on this representation, we propose a two-stage grasp generation method, which is specifically designed for generating precision grasps. In order to evaluate the whole approach, we perform extensive real world grasping experiments on a set of hard-to-grasp objects. Our approach achieves 78% success rate and shows robustness to the placement orientation.
BibTeX
@inproceedings{icra2016_precisiongraspin,
title = {Precision grasping based on probabilistic models of unknown objects},
author = {Dong Chen and Vincent Dietrich and Georg von Wichert},
booktitle = {ICRA 2016},
year = {2016}
}