Planning for grasping cluttered objects based on obstruction degree

Grasping objects in clutter is more difficult than grasping a separated single object. An important issue is that unsafe grasps may occur, in case, one object sits or leans on another, which could cause the collapse of objects. In addition, reachability of each object surrounded by other obstacles a...

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Autores principales:	Wenrui Zhao, Jingchuan Wang, Weidong Chen, Yi Huang
Formato:	article
Lenguaje:	EN
Publicado:	SAGE Publishing 2021
Materias:	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/a382c67dd7704a179a39a0b8f8bf339c
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id	oai:doaj.org-article:a382c67dd7704a179a39a0b8f8bf339c
record_format	dspace
spelling	oai:doaj.org-article:a382c67dd7704a179a39a0b8f8bf339c2021-12-02T03:04:48ZPlanning for grasping cluttered objects based on obstruction degree1729-881410.1177/17298814211040632https://doaj.org/article/a382c67dd7704a179a39a0b8f8bf339c2021-11-01T00:00:00Zhttps://doi.org/10.1177/17298814211040632https://doaj.org/toc/1729-8814Grasping objects in clutter is more difficult than grasping a separated single object. An important issue is that unsafe grasps may occur, in case, one object sits or leans on another, which could cause the collapse of objects. In addition, reachability of each object surrounded by other obstacles also has to be considered. So the order of multiple objects for grasping and the grasp configuration of each object must be planned simultaneously. This article combines grasp order and grasp configuration planning to perform fast and safe multiobject grasping in cluttered scenes. First, a comprehensive grasp configuration database is built to provide enough feasible grasp configurations for the objects. Then, we propose an obstruction degree to estimate the likelihood of reachability of each grasp configuration as well as each object. This measurement also implicitly infers object interactions. Finally, grasp order and grasp configurations are planned together to deal with the constraints caused by reachability and object interaction. Simulations and experiments in a series of cluttered scenes demonstrate that our method can grasp objects efficiently and can greatly reduce unsafe grasps.Wenrui ZhaoJingchuan WangWeidong ChenYi HuangSAGE PublishingarticleElectronicsTK7800-8360Electronic computers. Computer scienceQA75.5-76.95ENInternational Journal of Advanced Robotic Systems, Vol 18 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95 Wenrui Zhao Jingchuan Wang Weidong Chen Yi Huang Planning for grasping cluttered objects based on obstruction degree
description	Grasping objects in clutter is more difficult than grasping a separated single object. An important issue is that unsafe grasps may occur, in case, one object sits or leans on another, which could cause the collapse of objects. In addition, reachability of each object surrounded by other obstacles also has to be considered. So the order of multiple objects for grasping and the grasp configuration of each object must be planned simultaneously. This article combines grasp order and grasp configuration planning to perform fast and safe multiobject grasping in cluttered scenes. First, a comprehensive grasp configuration database is built to provide enough feasible grasp configurations for the objects. Then, we propose an obstruction degree to estimate the likelihood of reachability of each grasp configuration as well as each object. This measurement also implicitly infers object interactions. Finally, grasp order and grasp configurations are planned together to deal with the constraints caused by reachability and object interaction. Simulations and experiments in a series of cluttered scenes demonstrate that our method can grasp objects efficiently and can greatly reduce unsafe grasps.
format	article
author	Wenrui Zhao Jingchuan Wang Weidong Chen Yi Huang
author_facet	Wenrui Zhao Jingchuan Wang Weidong Chen Yi Huang
author_sort	Wenrui Zhao
title	Planning for grasping cluttered objects based on obstruction degree
title_short	Planning for grasping cluttered objects based on obstruction degree
title_full	Planning for grasping cluttered objects based on obstruction degree
title_fullStr	Planning for grasping cluttered objects based on obstruction degree
title_full_unstemmed	Planning for grasping cluttered objects based on obstruction degree
title_sort	planning for grasping cluttered objects based on obstruction degree
publisher	SAGE Publishing
publishDate	2021
url	https://doaj.org/article/a382c67dd7704a179a39a0b8f8bf339c
work_keys_str_mv	AT wenruizhao planningforgraspingclutteredobjectsbasedonobstructiondegree AT jingchuanwang planningforgraspingclutteredobjectsbasedonobstructiondegree AT weidongchen planningforgraspingclutteredobjectsbasedonobstructiondegree AT yihuang planningforgraspingclutteredobjectsbasedonobstructiondegree
_version_	1718402000182312960

Planning for grasping cluttered objects based on obstruction degree

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