Model-Free Grasping with Multi-Suction Cup Grippers for Robotic Bin Picking
Philipp Schillinger,Miroslav Gabriel,Alexander Kuss,Hanna Ziesche,Ngo Anh Vien,Philipp Schillinger,Miroslav Gabriel,Alexander Kuss,Hanna Ziesche,Ngo Anh Vien
This paper presents a novel method for model-free prediction of grasp poses for suction grippers with multiple suction cups. Our approach is agnostic to the design of the gripper and does not require gripper-specific training data. In particular, we propose a two-step approach, where first, a neural network predicts pixel-wise grasp quality for an input image to indicate areas that are generally g...
