NDLI: Planning for grasping cluttered objects based on obstruction degree

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Planning for grasping cluttered objects based on obstruction degree

Content Provider	SAGE Publishing
Author	Zhao, Wenrui Wang, Jingchuan Chen, Weidong Huang, Yi
Copyright Year	2021
Abstract	Grasping objects in clutter is more difficult than grasping a separated single object. An important issue is that unsafe grasps may occur, in case, one object sits or leans on another, which could cause the collapse of objects. In addition, reachability of each object surrounded by other obstacles also has to be considered. So the order of multiple objects for grasping and the grasp configuration of each object must be planned simultaneously. This article combines grasp order and grasp configuration planning to perform fast and safe multiobject grasping in cluttered scenes. First, a comprehensive grasp configuration database is built to provide enough feasible grasp configurations for the objects. Then, we propose an obstruction degree to estimate the likelihood of reachability of each grasp configuration as well as each object. This measurement also implicitly infers object interactions. Finally, grasp order and grasp configurations are planned together to deal with the constraints caused by reachability and object interaction. Simulations and experiments in a series of cluttered scenes demonstrate that our method can grasp objects efficiently and can greatly reduce unsafe grasps.
Related Links	https://journals.sagepub.com/doi/pdf/10.1177/17298814211040632?download=true
ISSN	17298806
Issue Number	6
Volume Number	18
Journal	International Journal of Advanced Robotic Systems (ARX)
e-ISSN	17298814
DOI	10.1177/17298814211040632
Language	English
Publisher	Sage Publications UK
Publisher Date	2021-11-29
Publisher Place	London
Access Restriction	Open
Rights Holder	© The Author(s) 2021
Subject Keyword	clutter Grasp planning grasp order grasp configuration object interaction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Science Applications Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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