Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing
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  • Release Date: 2023-07-07
  • non-prehensile manipulation
  • grasping
  • visual control
  • tactile sensing
Video Introduction

This video is adapted from 10.3390/robotics12040092

Robotic manipulation in cluttered environments is one of the challenges roboticists are currently facing. When the objects to handle are delicate fresh fruits, grasping is even more challenging. Detecting and localizing fruits with the accuracy necessary to grasp them is very difficult due to the large variability in the aspect and dimensions of each item. This video proposes a solution that exploits a state-of-the-art neural network and a novel enhanced 6D pose estimation method that integrates the depth map with the neural network output. Even with an accurate localization, grasping fruits with a suitable force to avoid slippage and damage at the same time is another challenge. This video solves this issue by resorting to a grasp controller based on tactile sensing. Depending on the specific application scenario, grasping a fruit might be impossible without colliding with other objects or other fruits. Therefore, a non-prehensile manipulation action is here proposed to push items hindering the grasp of a detected fruit. The pushing from an initial location to a target one is performed by a model predictive controller taking into account the unavoidable delay in the perception and computing pipeline of the robotic system. Experiments with real fresh fruits demonstrate that the overall proposed approach allows a robot to successfully grasp apples in various situations.

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Costanzo, M.; Federico, S.; De Simone, M.; Natale, C. Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/786 (accessed on 12 April 2024).
Costanzo M, Federico S, De Simone M, Natale C. Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/786. Accessed April 12, 2024.
Costanzo, Marco, Sara Federico, Marco De Simone, Ciro Natale. "Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing" Encyclopedia, https://encyclopedia.pub/video/video_detail/786 (accessed April 12, 2024).
Costanzo, M., Federico, S., De Simone, M., & Natale, C. (2023, July 07). Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing. In Encyclopedia. https://encyclopedia.pub/video/video_detail/786
Costanzo, Marco, et al. "Non-Prehensile Manipulation Actions and Visual 6D Pose Estimation for Fruit Grasping Based on Tactile Sensing." Encyclopedia. Web. 07 July, 2023.