Vision Planning for Grasping of Unknown 3D Objects

Vision planners used for grasping attempt to eitherrecognize or reconstruct the object to be grasped.Recognition systems, while needing only a few images,have difficulty with unknown objects, andreconstruction systems, while being able to graspunknown objects, require several images to constructa CAD level model of the object. By incorporating thegrasp planner with the view planner, a system isdeveloped that can grasp unknown three-dimensionalobjects while generally requiring only a few images. A system using off-the-shelf components withoutrelying upon structured light, lasers, or a stereocamera system is proposed. As the surface of theobject is being modeled, a grasp plan is formulatedfor an antipodal grasp. The position for the nextbest view is determined by the view location thatwill most likely acquire the missing informationrequired to a stable grasp.The minimal view criteria for grasping an object aregiven and it is shown that any shape can be held by acompliant two-fingered parallel-jawed gripper. Usingthe view criteria and view planning system it ispossible to predict the number of required viewsnecessary to plan a stable grasp of a given object.... Mehr