1. Volumetric-based Contact Point Detection for 7-DoF Grasping
- Author
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Cai, Junhao, Su, Jingcheng, Zhou, Zida, Cheng, Hui, Chen, Qifeng, and Wang, Michael Y
- Subjects
Computer Science - Robotics - Abstract
In this paper, we propose a novel grasp pipeline based on contact point detection on the truncated signed distance function (TSDF) volume to achieve closed-loop 7-degree-of-freedom (7-DoF) grasping on cluttered environments. The key aspects of our method are that 1) the proposed pipeline exploits the TSDF volume in terms of multi-view fusion, contact-point sampling and evaluation, and collision checking, which provides reliable and collision-free 7-DoF gripper poses with real-time performance; 2) the contact-based pose representation effectively eliminates the ambiguity introduced by the normal-based methods, which provides a more precise and flexible solution. Extensive simulated and real-robot experiments demonstrate that the proposed pipeline can select more antipodal and stable grasp poses and outperforms normal-based baselines in terms of the grasp success rate in both simulated and physical scenarios., Comment: Accepted to Conference on Robot Learning (CoRL) 2022. Supplementary materials: https://openreview.net/forum?id=SrSCqW4dq9
- Published
- 2022