GOMP: Grasp-Optimized Motion Planning for Bin Picking
Jeffrey Ichnowski,Michael Danielczuk,Jingyi Xu,Vishal Satish,Ken Goldberg,Jeffrey Ichnowski,Michael Danielczuk,Jingyi Xu,Vishal Satish,Ken Goldberg
Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of this set of grasps is two-fold: (1) grasp-analysis tools such as Dex-Net generate multiple candidate grasps, and (2) each of these grasps has a degree of freedo...
