Robot Three-Finger Grasping Strategy Based on DeeplabV3+

Abstract

Researchers all over the world are aiming to make robots with accurate and stable human-like grasp capabilities, which will expand the application field of robots, and development of a reasonable grasping strategy is the premise of this function. In this paper, the improved deeplabV3+ semantic segmentation algorithm is used to predict a triangle grasp strategy. The improved model was trained on the relabeled Cornell grasp datasets and tested on self-collected datasets. Compared with the existing rectangular grasp strategy, the proposed algorithm and triangle grasp strategy have achieved outstanding performance in stability, accuracy, and speed. Finally, based on the ROS platform, this paper deploys the trained model and verifies the real effect of the trained grasping strategy prediction model, and achieves excellent grasping effect.

Keywords

• semantic segmentation
• grasp strategy
• triangle
• SPP
• robot