This work presents a training-free suction grasping system for sorting deformed aseptic beverage cartons, decoupling target identification from grasp-point selection, and compares three geometric methods: k-nearest-neighbour PCA, Sobel cross-product, and RANSAC plane fitting.
Abstract
Robotic sorting of recyclable waste is challenging due to the deformable and geometrically inconsistent nature of target objects. We present a training-free suction grasping system for sorting deformed aseptic beverage cartons, decoupling target identification from grasp-point selection. An open-vocabulary vision-language model detects cartons from a text prompt, SAM2 refines each detection into an instance mask, and a geometric scoring method selects the suction point by combining surface flatness with normal alignment. Three geometric methods are compared: k-nearest-neighbour PCA, Sobel cross-product, and RANSAC plane fitting. Evaluated on a real robot across three deformation levels and 35 cluttered scenes, single-object grasp success reaches 88.2% and end-to-end retrieval in clutter is 72.6%.
Results show that pre-emptive, vision-driven force estimation% can replace slow and potentially damaging tactile exploration, enabling safer robotic handling of fragile fruits.
Shahd Shami, Obadah Wali, Eric Feron et al.· arXiv.org· 0 citations
A two-stage grasping framework that combines instance-level segmentation, planar grasp planning and time-compensated dynamic grasp modeling, providing an efficient, scalable and industrially applicable solution for automated metal waste sorting is presented.
Robotic bin-picking of disordered, randomly stacked workpieces remains challenging because reliable grasping depends on an accurate estimate of object pose, yet many established solutions require high-precision 3D sensing, detailed object models, or large annotated datasets that raise the cost and effort of deployment...
Abdulrahman Usman Wunti, Ling-Xin Yu, Guangwei Li et al.· Applied Sciences· 0 citations
Industrial robots in small-batch manufacturing and human–robot collaborative workstations are increasingly required to perform grasping and sorting tasks on workpieces with natural language instructions. Unlike generic object grasping, industrial workpieces may contain local surface defects such as dents, scratches, an...
Yufeng Li, Hai-Feng Yu, Xin Su et al.· Mathematics· 0 citations
Visual sorting robots often struggle with conventional horizontal bounding boxes when detecting irregularly placed solid waste. These boxes exhibit excessive background noise, making it difficult to extract precise depth data for 3D pose estimation. To address this issue, we developed MCB-Oriented RCNN, a more efficien...
Guanghong Tao, Haoyu Ma, Cheng-Gang Li et al.· 2026 IEEE International Conf...· 0 citations
A force-based method that estimates CoM height and mass from a single sub-critical tipping experiment by a robot manipulator, which informs and enables reliable non-prehensile manipulation and robotic grasping of challenging objects that were previously infeasible.
Steven M. Hyland, Xiao Jing, Cagdas D. Onal· 1 citation
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