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Lecture 9: Grasp Selection

russtedrake

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Manipulation in Clutter

Part 2:                                       

Grasp Selection

MIT 6.4210/2:

Robotic Manipulation

Fall 2022, Lecture 9

Follow live at https://slides.com/d/zueY9Ls/live

(or later at https://slides.com/russtedrake/fall22-lec09)

Course Roadmap

  1. Basic pick and place:
    • single known object
    • assuming known pose
  2. Geometric perception
    • single known object
    • unknown pose
  3. This week
    • ​​many/diverse unknown objects
    • unknown poses
    • simple task: "clutter clearing"

"Clutter clearing" (an early project at TRI)

Initial conditions using simulation

Contact mechanics (friction cones, ...)

Grasp analysis / optimization

(unpublished) work by Lucas Manuelli ~2017.  No deep learning -- this is geometry only.

Voxelization

http://www.open3d.org/docs/latest/tutorial/Advanced/voxelization.html

Limitations of using geometry only

  • No understanding of what an object is.
    • "Double picks"
    • Might pick up a heavy object from one corner
  • Partial views
  • Depth returns don't work for transparent objects
  • ...