Research Status of Robot Grab Detection Based on Vision

Abstract

With the progress of science and technology and the continuous improvement of living standards, robots are more and more widely used in life and production, and robot grasping technology is also constantly improving. In practical application, accurate grasp detection of target objects is an important part of robot grasping task. In this paper, the parallel two-fingered gripper is used as the end of the robot arm's grasping, and the research status of grasping detection, which is the key part in the grasping process of the robot arm based on vision, is summarized. The 2D planar grasping and 6-DOF spatial grasping are compared and analyzed in detail. At the same time, it also summarizes the commonly used evaluation indexes of capturing data sets and capturing detection, and points out the challenges faced by vision-based robot capturing and the future direction of solving these challenges.