GraspFusion: Realizing Complex Motion by Learning and Fusing Grasp Modalities with Instance Segmentation

摘要

Recent progress of deep learning improved the capability of a robot to find a proper grasp of a novel object for different grasp modalities (e.g., pinch and suction). While these previous studies consider multiple modalities separately, several studies develop multi-modal grippers that can achieve simultaneous pinch and suction grasp (multi-modal grasp fusion) for more capable and stable object manipulation. However, the previous studies with these grippers restrict the situations: simple object geometry and uncluttered environments. To overcome these difficulties, we propose a system that consists of: 1) object-class-agnostic grasp modality detection; 2) object-class-agnostic instance segmentation; and 3) grasp template matching for different modalities. The key idea of our work is the introduction of instance segmentation to fuse multiple modalities regarding each instance eluding a grasp of multiple objects at once. In the experiments, we evaluated the proposed system on the real-world picking task in clutter. The experimental results show that the effectiveness of modality detection, instance segmentation, and the integrated system as a whole.