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Computer Science > Robotics

arXiv:2303.02604 (cs)
[Submitted on 5 Mar 2023 (v1), last revised 6 May 2023 (this version, v3)]

Title:Two-Stage Grasping: A New Bin Picking Framework for Small Objects

Authors:Hanwen Cao, Jianshu Zhou, Junda Huang, Yichuan Li, Ng Cheng Meng, Rui Cao, Qi Dou, Yunhui Liu
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Abstract:This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are conducted in the first stage. Fine segmentation, detection, grasping, and pushing are performed in the second stage. A small object bin picking system has been realized to exhibit the concept of two-stage grasping. Experiments have shown the effectiveness of the proposed framework. Unlike traditional bin picking methods focusing on vision-based grasping planning using classic frameworks, the challenges of picking cluttered small objects can be solved by the proposed new framework with simple vision detection and planning.
Comments: ICRA 2023
Subjects: Robotics (cs.RO)
Cite as: arXiv:2303.02604 [cs.RO]
  (or arXiv:2303.02604v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2303.02604

Submission history

From: Hanwen Cao [view email]
[v1] Sun, 5 Mar 2023 08:05:00 UTC (1,912 KB)
[v2] Tue, 7 Mar 2023 06:44:29 UTC (1,247 KB)
[v3] Sat, 6 May 2023 06:37:12 UTC (2,520 KB)
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