Overview of task-oriented autonomous grasping algorithms

Authors: Gulnyashkin A.A.
Published in issue: #7(72)/2022
DOI: 10.18698/2541-8009-2022-7-809
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: manipulative robotics, object grasping, robotic assembly, autonomy, task-oriented grasping, Grasp Pose Detection library, MoveIt framework
Published: 02.09.2022

In robotic systems, grasping an object often requires orientation towards further actions that are planned to be carried out with the grasped object. The paper considers the problem of an autonomous grasping oriented towards the task at hand, in particular assembly. A description of existing approaches to robotic assembly is given. The key element of robotic assembly, the object grasping, and the requirements that are imposed on it for the successful performance of an assembly-oriented grasping are considered. Analytical and empirical approaches to grasping the object of manipulation, as well as their advantages, disadvantages and applications, are summarized. The current state of the problem of autonomous assembly-oriented grasping is presented, in particular existing libraries and frameworks are described.

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