2017

Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning

Mahler, Jeffrey, Matl, Matthew, Liu, Xinyu et al.

Understand

Vacuum-based end effectors are widely used in industry and are often preferred over parallel-jaw and multifinger grippers due to their ability to lift objects with a single point of contact.

Suction grasp planners often target planar surfaces on point clouds near the estimated centroid of an object.
In this paper, we propose a compliant suction contact model that computes the quality of the seal between the suction cup and local target surface and a measure of the ability of the suction grasp to resist an external gravity wrench.
To characterize grasps, we estimate robustness to perturbations in end-effector and object pose, material properties, and external wrenches.

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