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Two-fingered grasp planning for randomized bin-picking : determining the best pick
| Content Provider | Semantic Scholar |
|---|---|
| Author | Dupuis, Donna C. |
| Copyright Year | 2009 |
| Abstract | This work aims to increase reliability and reduce cycle time in order to realize a commercially-viable visionguided robotic bin-picking system. We present a novel method for two-fingered grasp generation and target selection for binpicking of randomized parts. We also propose a definition for grasp robustness, and use this to formulate a new grasp quality measure. A densely-sampled set of grasps is generated and evaluated using our proposed quality measure. The highestquality grasps are then used to provide more valid picking options in the context of a randomized pile of parts, and to determine the best part to pick up. Our experimental results show a substantial increase in the average number of valid picking options when compared with a typical industrial approach for target selection. |
| File Format | PDF HTM / HTML |
| DOI | 10.14288/1.0067664 |
| Alternate Webpage(s) | http://www.cs.ubc.ca/~little/links/linked-papers/RSS_MAN_08_two_fingered_grasp.pdf |
| Alternate Webpage(s) | https://open.library.ubc.ca/media/download/pdf/24/1.0067664/1 |
| Alternate Webpage(s) | https://doi.org/10.14288/1.0067664 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
