The Grasp Reset Mechanism: An Automated Apparatus for Conducting Grasping Trials

Advancing robotic grasping and manipulation requires the ability to test algorithms and/or train learning models on large numbers of grasps. Towards the goal of more advanced grasping, we present the Grasp Reset Mechanism (GRM), a fully automated apparatus for conducting large-scale grasping trials. The GRM automates the process of resetting a grasping environment, repeatably placing an object in a fixed location and controllable 1-D orientation. It also collects data and swaps between multiple objects enabling robust dataset collection with no human intervention. We also present a standardized state machine interface for control, which allows for integration of most manipulators with minimal effort. In addition to the physical design and corresponding software, we include a dataset of 1,020 grasps. The grasps were created with a Kinova Gen3 robot arm and Robotiq 2F-85 Adaptive Gripper to enable training of learning models and to demonstrate the capabilities of the GRM. The dataset includes ranges of grasps conducted across four objects and a variety of orientations. Manipulator states, object pose, video, and grasp success data are provided for every trial.

The Door and Drawer Reset Mechanisms: Automated Mechanisms for Testing and Data Collection

Robotic manipulation in human environments is a challenging problem for researchers and industry alike. In particular, opening doors/drawers can be challenging for robots, as the size, shape, actuation and required force is variable. Because of this, it can be difficult to collect large real-world datasets and to benchmark different control algorithms on the same hardware. In this paper we present two automated testbeds, the Door Reset Mechanism (DORM) and Drawer Reset Mechanism (DWRM), for the purpose of real world testing and data collection. These devices are low-cost, are sensorized, operate with customized variable resistance, and come with open source software. Additionally, we provide a dataset of over 600 grasps using the DORM and DWRM. We use this dataset to highlight how much variability can exist even with the same trial on the same hardware. This data can also serve as a source for real-world noise in simulation environments.

A real-time, hardware agnostic framework for close-up branch reconstruction using RGB data

Creating accurate 3D models of tree topology is an important task for tree pruning. The 3D model is used to decide which branches to prune and then to execute the pruning cuts. Previous methods for creating 3D tree models have typically relied on point clouds, which are often computationally expensive to process and can suffer from data defects, especially with thin branches. In this paper, we propose a method for actively scanning along a primary tree branch, detecting secondary branches to be pruned, and reconstructing their 3D geometry using just an RGB camera mounted on a robot arm. We experimentally validate that our setup is able to produce primary branch models with 4-5 mm accuracy and secondary branch models with 15 degrees orientation accuracy with respect to the ground truth model. Our framework is real-time and can run up to 10 cm/s with no loss in model accuracy or ability to detect secondary branches.

Optimization-Based Mechanical Perception for Peduncle Localization During Robotic Fruit Harvest

Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly sensitive to peduncle location. Most work on peduncle localization has focused on computer vision, but peduncles can be difficult to visually access due to the cluttered nature of agricultural environments. Our work proposes an alternative method which relies on mechanical -- rather than visual -- perception to localize the peduncle. To estimate the location of this important plant feature, we fit wrench measurements from a wrist force/torque sensor to a physical model of the fruit-plant system, treating the fruit's attachment point as a parameter to be tuned. This method is performed inline as part of the fruit picking procedure. Using our orchard proxy for evaluation, we demonstrate that the technique is able to localize the peduncle within a median distance of 3.8 cm and median orientation error of 16.8 degrees.

Measuring a Robot Hand's Graspable Region using Power and Precision Grasps

The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right size for grasping an object. We propose a practical hand measurement standard, based on precision and power grasps, that is applicable to a wide variety of robot hand designs. The resulting measurements can be used to both determine if an object will fit in the hand and characterize the size of an object with respect to the hand. Our measurement procedure uses a functional approach, based on grasping a hypothetical cylinder, that allows the measurer choose the exact hand orientation and finger configurations that are used for the measurements. This ensures that the measurements are functionally comparable while relying on the human to determine the finger configurations that best match the intended grasp. We demonstrate using our measurement standard with three commercial robot hand designs and objects from the YCB data set.

Optical flow-based branch segmentation for complex orchard environments

Machine vision is a critical subsystem for enabling robots to be able to perform a variety of tasks in orchard environments. However, orchards are highly visually complex environments, and computer vision algorithms operating in them must be able to contend with variable lighting conditions and background noise. Past work on enabling deep learning algorithms to operate in these environments has typically required large amounts of hand-labeled data to train a deep neural network or physically controlling the conditions under which the environment is perceived. In this paper, we train a neural network system in simulation only using simulated RGB data and optical flow. This resulting neural network is able to perform foreground segmentation of branches in a busy orchard environment without additional real-world training or using any special setup or equipment beyond a standard camera. Our results show that our system is highly accurate and, when compared to a network using manually labeled RGBD data, achieves significantly more consistent and robust performance across environments that differ from the training set.

Effects of Interfaces on Human-Robot Trust: Specifying and Visualizing Physical Zones

In this paper we investigate the influence interfaces and feedback have on human-robot trust levels when operating in a shared physical space. The task we use is specifying a "no-go" region for a robot in an indoor environment. We evaluate three styles of interface (physical, AR, and map-based) and four feedback mechanisms (no feedback, robot drives around the space, an AR "fence", and the region marked on the map). Our evaluation looks at both usability and trust. Specifically, if the participant trusts that the robot "knows" where the no-go region is and their confidence in the robot's ability to avoid that region. We use both self-reported and indirect measures of trust and usability. Our key findings are: 1) interfaces and feedback do influence levels of trust; 2) the participants largely preferred a mixed interface-feedback pair, where the modality for the interface differed from the feedback.

Precision fruit tree pruning using a learned hybrid vision/interaction controller

Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid parts of the environment such as trees, support posts, and wires. In this paper, we propose a hybrid control system that uses a learned vision-based controller to initially align the cutter with the desired pruning point, taking in images of the environment and outputting control actions. This controller is trained entirely in simulation, but transfers easily to real trees via a neural network which transforms raw images into a simplified, segmented representation. Once contact is established, the system hands over control to an interaction controller that guides the cutter pivot point to the branch while minimizing interaction forces. With this simple, yet novel, approach we demonstrate an improvement of over 30 percentage points in accuracy over a baseline controller that uses camera depth data.

Grasping Benchmarks: Normalizing for Object Size \& Approximating Hand Workspaces

The varied landscape of robotic hand designs makes it difficult to set a standard for how to measure hand size and to communicate the size of objects it can grasp. Defining consistent workspace measurements would greatly assist scientific communication in robotic grasping research because it would allow researchers to 1) quantitatively communicate an object's relative size to a hand's and 2) approximate a functional subspace of a hand's kinematic workspace in a human-readable way. The goal of this paper is to specify a measurement procedure that quantitatively captures a hand's workspace size for both a precision and power grasp. This measurement procedure uses a {\em functional} approach -- based on a generic grasping scenario of a hypothetical object -- in order to make the procedure as generalizable and repeatable as possible, regardless of the actual hand design. This functional approach lets the measurer choose the exact finger configurations and contact points that satisfy the generic grasping scenario, while ensuring that the measurements are {\em functionally} comparable. We demonstrate these functional measurements on seven hand configurations. Additional hand measurements and instructions are provided in a GitHub Repository.

Semantics-guided Skeletonization of Sweet Cherry Trees for Robotic Pruning

Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to reconstruct a model of a tree which is accurate and informative enough to be useful for deciding where to cut. One useful structure for modeling a tree is a skeleton: a 1D, lightweight representation of the geometry and the topology of a tree. This skeletonization problem is an important one within the field of computer graphics, and a number of algorithms have been specifically developed for the task of modeling trees. These skeletonization algorithms have largely addressed the problem as a geometric one. In agricultural contexts, however, the parts of the tree have distinct labels, such as the trunk, supporting branches, etc. This labeled structure is important for understanding where to prune. We introduce an algorithm which produces such a labeled skeleton, using the topological and geometric priors associated with these labels to improve our skeletons. We test our skeletonization algorithm on point clouds from 29 upright fruiting offshoot (UFO) trees and demonstrate a median accuracy of 70% with respect to a human-evaluated gold standard. We also make point cloud scans of 82 UFO trees open-source to other researchers. Our work represents a significant first step towards a robust tree modeling framework which can be used in an autonomous pruning system.