Abstract:Grasping an unknown object in a pile is no easy task for a robot—it is often difficult to distinguish different objects; objects occlude one another; object proximity limits the number of feasible grasps available; and so forth. In this paper, we propose a simple approach to grasping unknown objects one by one from a random pile. The proposed method is divided into three main actions—over-segmentation of the images, a decision algorithm and ranking according to a grasp robustness index. Thus, the robot is able… Show more
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