Object grasping planning for the situation when soft and rigid objects are mixed together
This addresses a specific challenge in robotics for handling cluttered environments with mixed object types, but it is incremental as it builds on existing detection and planning methods.
The paper tackles the problem of object grasping in mixed rigid-soft object scenes by proposing a rotated bounding box detection method that provides angle information to ensure single instances per box, and it was verified through experiments with rigid objects and towels.
In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this method can output the angle information of rotated objects and thus can guarantee that within each rotated bounding box, there is a single instance. This technology is especially useful in the case of pile of objects with different orientations. In our method, when uncategorized objects with specific geometry shapes (rectangle or cylinder) are detected, the program will conclude that some rigid objects are covered by the towels. If no covered objects are detected, the grasp planning is based on 3D point cloud obtained from the mapping between 2D object detection result and its corresponding 3D point cloud. Based on the information provided by the 3D bounding box covering the object, grasping strategy for multiple cluttered rigid objects, collision avoidance strategy are proposed. The proposed method is verified by the experiment in which rigid objects and towels are mixed together.