Robotic grasping: from wrench space heuristics to deep learning policies

• Type: Another Publication in an International Scientific Journal
• Date: 2021

Authors

de Souza, JPC (Author) FEUP; Rocha, LF (Author) FEUP; Oliveira, PM (Author) Other; António Paulo Moreira (Author) FEUP; Boaventura Cunha, J (Author) Other

Journal

Title: Robotics and Computer-Integrated Manufacturing

Vol. 71

ISSN: 0736-5845

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-00T-TYP

DOI: 10.1016/j.rcim.2021.102176

Abstract (EN): The robotic grasping task persists as a modern industry problem that seeks autonomous, fast implementation, and efficient techniques. Domestic robots are also a reality demanding a delicate and accurate human-machine interaction, with precise robotic grasping and handling. From decades ago, with analytical heuristics, to recent days, with the new deep learning policies, grasping in complex scenarios is still the aim of several works' that propose distinctive approaches. In this context, this paper aims to cover recent methodologies' development and discuss them, showing state-of-the-art challenges and the gap to industrial applications deployment. Given the complexity of the related issue associated with the elaborated proposed methods, this paper formulates some fair and transparent definitions for results' assessment to provide researchers with a clear and standardised idea of the comparison between the new proposals.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12