相关论文: Two-Stage Grasping: A New Bin Picking Framework fo…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…

Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…

The food packaging industry handles an immense variety of food products with wide-ranging shapes and sizes, even within one kind of food. Menus are also diverse and change frequently, making automation of pick-and-place difficult. A popular…

Despite recent advances, object detection in aerial images is still a challenging task. Specific problems in aerial images makes the detection problem harder, such as small objects, densely packed objects, objects in different sizes and…

This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…

Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…

This paper presents a novel method for model-free prediction of grasp poses for suction grippers with multiple suction cups. Our approach is agnostic to the design of the gripper and does not require gripper-specific training data. In…

Multiple-suction-cup grasping can improve the efficiency of bin picking in cluttered scenes. In this paper, we propose a grasp planner for a vacuum gripper to use multiple suction cups to simultaneously grasp multiple objects or an object…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup…

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the…

Object grasping in cluttered scenes is a widely investigated field of robot manipulation. Most of the current works focus on estimating grasp pose from point clouds based on an efficient single-shot grasp detection network. However, due to…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…