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Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes

D'Avella, Salvatore and Meenakshi Sundaram, Ashok and Friedl, Werner and Tripicchio, Paolo and Roa Garzon, Máximo Alejandro (2023) Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes. IEEE Robotics and Automation Letters, 8 (4), pp. 2030-2037. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3247221. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/10049497

Abstract

Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as a promising strategy to improve the manipulation capabilities of a robotic system. This work presents a novel grasp planning algorithm for hybrid grippers that allows for multiple grasping modalities. In particular, the planner manages two-finger grasps, single or double suction grasps, and magnetic grasps. Grasps for different modalities are geometrically computed based on the cuboid and the material properties of the objects in the clutter. The presented framework is modular and can leverage any 6D pose estimation or material segmentation network as far as they satisfy the required interface. Furthermore, the planner can be applied to any (hybrid) gripper, provided the gripper clearance, finger width, and suction diameter. The approach is fast and has a low computational burden, as it uses geometric computations for grasp synthesis and selection. The performance of the system has been assessed with an experimental campaign in three manipulation scenarios of increasing difficulty using the objects of the YCB dataset and the DLR hybrid-compliant gripper.

Item URL in elib:https://elib.dlr.de/194492/
Document Type:Article
Title:Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
D'Avella, SalvatoreUNSPECIFIEDhttps://orcid.org/0000-0001-7065-8789UNSPECIFIED
Meenakshi Sundaram, AshokUNSPECIFIEDhttps://orcid.org/0000-0001-9201-6947UNSPECIFIED
Friedl, WernerUNSPECIFIEDhttps://orcid.org/0000-0003-3002-7274UNSPECIFIED
Tripicchio, PaoloUNSPECIFIEDhttps://orcid.org/0000-0003-3225-2782UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:22 February 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:8
DOI:10.1109/LRA.2023.3247221
Page Range:pp. 2030-2037
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Grasping, Grasp planning, Hybrid grippers and end-effectors
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multi-fingered robotic hands [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Meenakshi Sundaram, Ashok
Deposited On:27 Mar 2023 22:05
Last Modified:27 Mar 2023 22:05

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