Abstract
As we all know, the output of the tactile sensing array on the gripper can be used to predict grasping stability. Some methods utilize traditional tactile features to make the decision and some advanced methods use machine learning or deep learning ways to build a prediction model. While these methods are all limited to the specific sensing array and have two common disadvantages. On the one hand, these models cannot perform well on different sensors. On the other hand, they do not have the ability of inferencing on multiple sensors in an end-to-end manner. Thus, we aim to find the internal relationships among different sensors and inference the grasping stability of multiple sensors in an end-to-end way. In this paper, we propose the MM-CNN (mask multi-head convolutional neural network), which can be utilized to predict the grasping stability on the output of multiple sensors with the weight sharing mechanism. We train this model and evaluate it on our own collected datasets. This model achieves 99.49% and 94.25% prediction accuracy on two different sensing arrays, separately. In addition, we show that our proposed structure is also available for other CNN backbones and can be easily integrated.
Highlights
With the recent developments in computer vision and range sensing, robots can detect objects reliably
A stable grasping can be viewed as a static equilibrium state of the object that is maintained when the grippers are closed
The global pooling layer can deal with variable input sizes and multiple fully-connected heads can deal with different characteristics of
Summary
With the recent developments in computer vision and range sensing, robots can detect objects reliably. Grasping remains to be a question even with the correct location and pose of the object. The main reason is that predicting the grasping stability of the object in autonomous robotic manipulation tasks is still an important and difficult research topic. Grasping stability is defined as the capacity of the grasping to resist external forces and disturbances. A stable grasping can be viewed as a static equilibrium state of the object that is maintained when the grippers are closed. In the case of stable grasping, the grasped objects will keep the static equilibrium state when the manipulator moves
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have