Vision Planning for Grasping of Unknown 3D Objects: Minimal Vision Planning for Grasping of Unknown 3-Dimensional Objects using a Two-fingered Parallel-Jawed Gripper

Vision planners used for grasping attempt to either recognize or reconstruct the object to be grasped. Recognition systems, while needing only a few images, have difficulty with unknown objects, and reconstruction systems, while being able to grasp unknown objects, require several images to construct a CAD level model of the object. By incorporating the grasp planner with the view planner, a system is developed that can grasp unknown three-dimensional objects while generally requiring only a few images. A system using off-the-shelf components without relying upon structured light, lasers, or a stereo camera system is proposed. As the surface of the object is being modeled, a grasp plan is formulated for an antipodal grasp. The position for the next best view is determined by the view location that will most likely acquire the missing information required to a stable grasp. The minimal view criteria for grasping an object are given and it is shown that any shape can be held by a compliant two-fingered parallel-jawed gripper. Using the view criteria and view planning system it is possible to predict the number of required views necessary to plan a stable grasp of a given object.