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About this paper
Florian Töper, Samarth Kishor Yelvande, Jan Niklas Ewertz, Rudolph Triebel, Peter Ohlhausen
The hierarchical hybrid system combines known-part model-based grasping with model-free fallbacks that add successful grasps using gripper feedback. It ranks candidates from measured outcomes and uses stored grasps first. Across 30 test bins for three automotive parts on one robot-and-gripper setup, it achieved 100% clearance versus 50.9% average for the model-based baseline; the experiments were not a matched comparison.
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