使用双臂非抓取式操作在真实环境中抓取无法抓取的物体
In the Wild Ungraspable Object Picking with Bimanual Nonprehensile Manipulation
AI总结：
本文提出一种基于双臂非抓取式操作的方法，通过视觉识别抓取点并结合轻推动作清除遮挡，使配备吸盘夹爪和平行夹爪的双臂移动机械手无需硬件修改即可在杂货店等真实环境中抓取传统夹爪无法抓取的物体。
摘要：
在现实世界中抓取各种物体是机器人的基本技能。然而，该环境中的许多物体体积庞大、沉重或形状不规则，使得吸盘夹爪和平行夹爪（PJGs）等传统末端执行器无法抓取它们。在本文中，我们使用双臂非抓取式操作，在没有硬件修改的情况下扩大了可抓取物品的范围。我们关注杂货店购物场景，其中配备吸盘夹爪和PJG的双臂移动机械手负责从紧密排列的杂货架上取回无法抓取的物品。基于视觉观察，我们的方法首先根据力闭合和摩擦约束确定最佳抓取点。如果抓取点被遮挡，则执行一系列非抓取式轻推动作以清除障碍物。随后执行利用末端执行器侧面接触的双臂抓取，以抓取目标物品。在我们的模拟杂货店中，我们在102次无杂乱场景试验中实现了90%的成功率，在45次杂乱场景试验中实现了67%的成功率。我们还将系统部署到真实世界的杂货店，并成功抓取了以前未见过的物品。我们的结果突出了双臂非抓取式操作在真实环境机器人抓取任务中的潜力。总结此工作的视频可在 youtu.be/g0hOrDuK8jM 找到。
英文摘要：
Picking diverse objects in the real world is a fundamental robotics skill. However, many objects in such settings are bulky, heavy, or irregularly shaped, making them ungraspable by conventional end effectors like suction grippers and parallel jaw grippers (PJGs). In this paper, we expand the range of pickable items without hardware modifications using bimanual nonprehensile manipulation. We focus on a grocery shopping scenario, where a bimanual mobile manipulator equipped with a suction gripper and a PJG is tasked with retrieving ungraspable items from tightly packed grocery shelves. From visual observations, our method first identifies optimal grasp points based on force closure and friction constraints. If the grasp points are occluded, a series of nonprehensile nudging motions are performed to clear the obstruction. A bimanual grasp utilizing contacts on the side of the end effectors is then executed to grasp the target item. In our replica grocery store, we achieved a 90% success rate over 102 trials in uncluttered scenes, and a 67% success rate over 45 trials in cluttered scenes. We also deployed our system to a real-world grocery store and successfully picked previously unseen items. Our results highlight the potential of bimanual nonprehensile manipulation for in-the-wild robotic picking tasks. A video summarizing this work can be found at youtu.be/g0hOrDuK8jM
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
