Abstract
Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.
Highlights
An unknown object can be defined as an item that has neither apparent information nor geometric model.[1]
Fast grasping of unknown objects is quite important for robots efficiently to perform missions especially under unfamiliar environments
Due to the fact that various robots are increasingly dependent in contemporary society, improving grasping speed emerges as one essential challenge for fasting grasping of unknown objects
Summary
An unknown object can be defined as an item that has neither apparent information nor geometric model.[1]. A literature study reports five dominant fast grasping algorithms.[2,3,4,5,6] Among them Ref. 2 is a well acknowledged fast grasping algorithm using Hough transformation to visualize the edges of objects into a 2D image. It can detect whether the edges have sufficient length and whether the parallel edges suit the width of the used grippers. The scope of grasp searching is significantly reduced. This may result in lots of grasp uncertainty, which may lead to grasp failure
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