A Vision-Guided Deep Learning Framework for Dexterous Robotic Grasping Using Gaussian Processes and Transformers

摘要

Robotic manipulation of objects with diverse shapes, sizes, and properties, especially deformable ones, remains a significant challenge in automation, necessitating human-like dexterity through the integration of perception, learning, and control. This study enhances a previous framework combining YOLOv8 for object detection and LSTM networks for adaptive grasping by introducing Gaussian Processes (GPs) for robust grasp predictions and Transformer models for efficient multi-modal sensory data integration. A Random Forest classifier also selects optimal grasp configurations based on object-specific features like geometry and stability. The proposed grasping framework achieved a 95.6% grasp success rate using Transformer-based force modulation, surpassing LSTM (91.3%) and GP (91.3%) models. Evaluation of a diverse dataset showed significant improvements in grasp force modulation, adaptability, and robustness for two- and three-finger grasps. However, limitations were observed in five-finger grasps for certain objects, and some classification failures occurred in the vision system. Overall, this combination of vision-based detection and advanced learning techniques offers a scalable solution for flexible robotic manipulation.