Enhancing Robotic Grasping Performance through Data-Driven Analysis

Abstract

In automation, reliability in robotic grasping in dynamic environment is still a problem encountered. Further, there is the need to consider deep learning methods, as traditional approaches are not easily flexible in dealing with different objects and situations. In this work, we aim to analyze how well deep neural network models perform in predicting grasp strength based on data collected from the Smart Grasping Sandbox simulation trials. Hence, the proposed approach for analyzing the joint positions, velocities and efforts led to the design of a deep neural network for improving robot grasp performance. The question here could is if deep learning could help better predict grasp stability. To implement the method, we underwent rigorous data pre-processing such as outlier detection, and feature normalization and employed a structured neural network model for training. Our model got a training accuracy of nearly 99% and the test accuracy of nearly 96% demonstrating significant promise. These results were also better than CNN and LSTM where their accuracy rate was 94.12% and 91.81%, respectively. High deep learning performance was proven in robotic grasping, which can contribute to the creation of more flexible and sophisticated robotic platforms. This work also provides the foundation for subsequent research in robotics and automation, with emphasis on the role of data-driven methods in robotic grasping tasks.

Keywords

• deep learning, grasp robustness, neural network model, predictive modeling, robot grasping