Aeron, S., Llontop, E., Adler, A. et al. (3 more authors) (2023) Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping. In: Proceedings of 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 26-30 Aug 2023, Auckland, New Zealand. IEEE ISBN 9798350320695
Abstract
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can improve efficiency by increasing the average number of objects grasped per trip (OpT). However, grasping multiple objects requires the objects to be aligned and in close proximity. In this work, we propose Push-MOG, an algorithm that computes “fork pushing” actions using a parallel-jaw gripper to create graspable object clusters. In physical decluttering experiments, we find that Push-MOG enables multi-object grasps, increasing the average OpT by 34%. Code and videos are available at https://sites.google.com/berkeley.edu/push-mog.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/V052659/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 31 Oct 2023 14:28 |
Last Modified: | 31 Oct 2023 14:28 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/case56687.2023.10260295 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:204707 |