All articles published by MDPI are made immediately available worldwide under an open access license. No specialpermission is required to reuse all or part of the article published by MDPI, including figures and tables. Forarticles published under an open access Creative Common CC BY license, any part of the article may be reused withoutpermission provided that the original article is clearly cited. For more information, please refer tohttps://www.mdpi.com/openaccess.
Feature papers represent the most advanced research with significant potential for high impact in the field. A FeaturePaper should be a substantial original Article that involves several techniques or approaches, provides an outlook forfuture research directions and describes possible research applications.
Feature papers are submitted upon individual invitation or recommendation by the scientific editors and must receivepositive feedback from the reviewers.
Editor’s Choice articles are based on recommendations by the scientific editors of MDPI journals from around the world.Editors select a small number of articles recently published in the journal that they believe will be particularlyinteresting to readers, or important in the respective research area. The aim is to provide a snapshot of some of themost exciting work published in the various research areas of the journal.
Original Submission Date Received: .
- Journals
- Active Journals
- Find a Journal
- Proceedings Series
- Topics
- Information
- For Authors
- For Reviewers
- For Editors
- For Librarians
- For Publishers
- For Societies
- For Conference Organizers
- Open Access Policy
- Institutional Open Access Program
- Special Issues Guidelines
- Editorial Process
- Research and Publication Ethics
- Article Processing Charges
- Awards
- Testimonials
- Author Services
- Initiatives
- Sciforum
- MDPI Books
- Preprints.org
- Scilit
- SciProfiles
- Encyclopedia
- JAMS
- Proceedings Series
- About
- Overview
- Contact
- Careers
- News
- Press
- Blog
Sign In / Sign UpSubmit
Journals
Robotics
Volume 13
Issue 6
10.3390/robotics13060085
Submit to this JournalReview for this JournalPropose a Special Issue
►Article Menu
Article Menu
- Academic Editors
Roman Mykhailyshyn
Ann Majewicz Fey
Charalampos P. Bechlioulis
Kensuke Harada
Show more...
- Subscribe SciFeed
- Related Info Link
- More by Authors Links
- Table of Contents
announcementHelpformat_quoteCitequestion_answerDiscuss in SciProfiles
thumb_up...Endorsetextsms...CommentNeed Help?
Support
Find support for a specific problem in the support section of our website.
Get Support
Feedback
Please let us know what you think of our products and services.
Give Feedback
Information
Visit our dedicated information section to learn more about MDPI.
Get Information
JSmol Viewer
first_page
settings
Order Article Reprints
Font Type:
ArialGeorgiaVerdana
Font Size:
AaAaAa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Open AccessArticle
by Ping Jiang SciProfilesScilitPreprints.orgGoogle Scholar Junji Oaki SciProfilesScilitPreprints.orgGoogle Scholar Yoshiyuki Ishihara SciProfilesScilitPreprints.orgGoogle Scholar Junichiro Ooga SciProfilesScilitPreprints.orgGoogle Scholar
Ping Jiang
, Junji OakiYoshiyuki Ishihara and Junichiro Ooga
1
Corporate Manufacturing Engineering Center, Toshiba Corporation, Yokohama 235-0017, Japan
2
Corporate Research & Development Center, Toshiba Corporation, Kawasaki 212-8582, Japan
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Robotics 2024, 13(6), 85; https://doi.org/10.3390/robotics13060085
Submission received: 23 April 2024/Revised: 22 May 2024/Accepted: 23 May 2024/Published: 27 May 2024
(This article belongs to the Special Issue Advanced Grasping and Motion Control Solutions, Volume II)
Abstract
Multiple-suction-cup grasping can improve the efficiency of bin picking in cluttered scenes. In this paper, we propose a grasp planner for a vacuum gripper to use multiple suction cups to simultaneously grasp multiple objects or an object with a large surface. To take on the challenge of determining where to grasp and which cups to activate when grasping, we used 3D convolution to convolve the affordable areas inferred by a neural network with the gripper kernel in order to find graspable positions of sampled gripper orientations. The kernel used for 3D convolution in this work was encoded, including cup ID information, which helps to directly determine which cups to activate by decoding the convolution results. Furthermore, a sorting algorithm is proposed to determine the optimal grasp among the candidates. Our planner exhibited good generality and successfully found multiple-cup grasps in previous affordance map datasets. Our planner also exhibited improved picking efficiency using multiple suction cups in physical robot-picking experiments. Compared with single-object (single-cup) grasping, multiple-cup grasping contributed to
,
, and
increases in efficiency for picking boxes, fruits, and daily necessities, respectively.
Keywords: bin picking; grasp planning; suction grasp; graspability; deep learning
Share and Cite
MDPI and ACS Style
Jiang, P.; Oaki, J.; Ishihara, Y.; Ooga, J.Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes. Robotics 2024, 13, 85.https://doi.org/10.3390/robotics13060085
AMA Style
Jiang P, Oaki J, Ishihara Y, Ooga J.Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes. Robotics. 2024; 13(6):85.https://doi.org/10.3390/robotics13060085
Chicago/Turabian Style
Jiang, Ping, Junji Oaki, Yoshiyuki Ishihara, and Junichiro Ooga.2024. "Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes" Robotics 13, no. 6: 85.https://doi.org/10.3390/robotics13060085
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.
Article Metrics
Article metric data becomes available approximately 24 hours after publication online.
Cite
Export citation file:BibTeX |EndNote |RIS
MDPI and ACS Style
Jiang, P.; Oaki, J.; Ishihara, Y.; Ooga, J.Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes. Robotics 2024, 13, 85.https://doi.org/10.3390/robotics13060085
AMA Style
Jiang P, Oaki J, Ishihara Y, Ooga J.Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes. Robotics. 2024; 13(6):85.https://doi.org/10.3390/robotics13060085
Chicago/Turabian Style
Jiang, Ping, Junji Oaki, Yoshiyuki Ishihara, and Junichiro Ooga.2024. "Multiple-Object Grasping Using a Multiple-Suction-Cup Vacuum Gripper in Cluttered Scenes" Robotics 13, no. 6: 85.https://doi.org/10.3390/robotics13060085
Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.
Robotics,EISSN 2218-6581,Published by MDPI
RSSContent Alert
Further Information
Article Processing ChargesPay an InvoiceOpen Access PolicyContact MDPIJobs at MDPI
Guidelines
For AuthorsFor ReviewersFor EditorsFor LibrariansFor PublishersFor SocietiesFor Conference Organizers
MDPI Initiatives
SciforumMDPI BooksPreprints.orgScilitSciProfilesEncyclopediaJAMSProceedings Series
© 1996-2024 MDPI (Basel, Switzerland) unless otherwise stated
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solelythose of the individual author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/orthe editor(s) disclaim responsibility for any injury to people or property resulting from any ideas,methods, instructions or products referred to in the content.
Terms and ConditionsPrivacy Policy
