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06 October 2024 |
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Article overview
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Multi-Object Grasping in the Plane | | Wisdom C. Agboh
; Jeffrey Ichnowski
; Ken Goldberg
; Mehmet R. Dogar
; | | Date: |
1 Jun 2022 | | Abstract: | We consider the problem where multiple rigid convex polygonal objects rest in
randomly placed positions and orientations on a planar surface visible from an
overhead camera. The objective is to efficiently grasp and transport all
objects into a bin. Specifically, we explore multi-object push-grasps where
multiple objects are pushed together before the grasp can occur. We provide
necessary conditions for multi-object push-grasps and apply these to filter
inadmissible grasps in a novel multi-object grasp planner. We find that our
planner is 19 times faster than a Mujoco simulator baseline. We also propose a
picking algorithm that uses both single- and multi-object grasps to pick
objects. In physical grasping experiments, compared to a single-object picking
baseline, we find that the multi-object grasping system achieves 13.6% higher
grasp success and is 59.9% faster. See
this https URL for videos, code, and data. | | Source: | arXiv, 2206.00229 | | Services: | Forum | Review | PDF | Favorites | |
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