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arXiv · 1910.10900

UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands

Lin Shao·Fabio Ferreira·Mikael Jorda·Varun Nambiar·Jianlan Luo·Eugen Solowjow·Juan Aparicio Ojea·Oussama Khatib·Jeannette Bohg
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Abstract

To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object geometry but are specific to a certain robot hand. We propose UniGrasp, an efficient data-driven grasp synthesis method that considers both the object geometry and gripper attributes as inputs. UniGrasp is based on a novel deep neural network architecture that selects sets of contact points from the input point cloud of the object. The proposed model is trained on a large dataset to produce contact points that are in force closure and reachable by the robot hand. By using contact points as output, we can transfer between a diverse set of multifingered robotic hands. Our model produces over 90% valid contact points in Top10 predictions in simulation and more than 90% successful grasps in real world experiments for various known two-fingered and three-fingered grippers. Our model also achieves 93%, 83% and 90% successful grasps in real world experiments for an unseen two-fingered gripper and two unseen multi-fingered anthropomorphic robotic hands.

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Lin Shao, Fabio Ferreira, Mikael Jorda, Varun Nambiar, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Oussama Khatib, Jeannette Bohg. 2019-10-24. UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands. https://doi.org/10.1109/lra.2020.2969946

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