Abstract
Visual and tactile sensing are complementary factors in the task of robotic grasping. In this paper, a grasp detection deep network is first proposed to detect the grasp rectangle from the visual image， then a new metric using tactile sensing is designed to assess the stability of the grasp. By means of this scheme, a THU grasp dataset， which includes the visual information, corresponding tactile and grasp configurations， is collected to train the proposed deep network. Experiments results have demonstrated that the proposed grasp detection deep networks outperform other mainstream approaches in a public grasp dataset. Furthermore， the grasp success rate can be improved significantly in real world scenarios. The trained model has also been successfully implemented in a new robotic platform to perform the robotic grasping task in a cluttered scenario.
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