Single Suction Grasp Detection for Symmetric Objects Using Shallow Networks Trained with Synthetic Data

摘要

Predicting the grasping point accurately and quickly is crucial for successful robotic manipulation. However, to commercially deploy a robot, such as a dishwasher robot in a commercial kitchen, we also need to consider the constraints of limited usable resources. We present a deep learning method to predict the grasp position when using a single suction gripper for picking up objects. The proposed method is based on a shallow network to enable lower training costs and efficient inference on limited resources. Costs are further reduced by collecting data in a custom-built synthetic environment. For evaluating the proposed method, we developed a system that models a commercial kitchen for a dishwasher robot to manipulate symmetric objects. We tested our method against a model-fitting method and an algorithm-based method in our developed commercial kitchen environment and found that a shallow network trained with only the synthetic data achieves high accuracy. We also demonstrate the practicality of using a shallow network in sequence with an object detector for ease of training, prediction speed, low computation cost, and easier debugging.