NEW APPROACH FOR ROBOTIC GRASPING OF UNKNOWN THREE DIMENSIONAL OBJECTS
Bibliographic record
Abstract
Automated grasping of objects of unknown geometry a priori has applications in many industries such as clearing a mine shaft after blasting, agricultural applications such as fruit and vegetable handling, and many roles in the service industry such as fetching items for a handicapped individual. In these roles the system environment is highly unstructured, and the robot must be able to react to different types of objects needing to be grasped. In this thesis a vision guided robotic grasp planner for unstructured environments is presented. An evaluation method for robotic grasping involving two distinct sets of objects is also presented. Both the grasp planner and evaluation metric are evaluated by experimentation using an articulated robotic arm with an eye-in-hand video camera, line laser, and pneumatic gripper. Multiple grasping experiments were performed with the objects in random poses on a modified tabletop deemed the playfield that did not allow objects to rest flat. The grasp planner focused on using a created model of the object from camera observations using silhouetting and line laser data. The object model and its computed convex hull were used to evaluate and select a single facet and point creating a grasping pair for the pneumatic gripper jaws. The grasp was attempted and then evaluated using a secondary camera and the developed evaluation method. iv Grasp success rates ranged from 80.30% (Rectangular Block on playfield 137 attempts) to 97.69% (Hexagonal Nut 173 attempts), with a mean grasp computation time for the hexagonal nut of 0.57s.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.002 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".