2D and 3D Grasp Planners for the GET Asymmetrical Gripper
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866917445287018496 |
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| author | Goldberg, Andrew Ransing, Ethan Kourakin, Anton Magner, Cael Adelson, Edward H. Goldberg, Ken |
| author_facet | Goldberg, Andrew Ransing, Ethan Kourakin, Anton Magner, Cael Adelson, Edward H. Goldberg, Ken |
| contents | In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy, and GET-3D-1.0, a mesh-based method using a 3D gripper model and ray-tracing. We evaluate both grasp planners against baselines with physical experiments, which suggest that GET-2D-1.0 can improve over a bounding box baseline by over 40% in lift success, shake survival, and force resistance. Experiments with GET-3D-1.0 suggest slight improvement compared to GET-2D-1.0 on lift success and shake survival, but are more computationally expensive, averaging 17 seconds of planning compared to 683 ms for GET-2D-1.0. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_26212 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | 2D and 3D Grasp Planners for the GET Asymmetrical Gripper Goldberg, Andrew Ransing, Ethan Kourakin, Anton Magner, Cael Adelson, Edward H. Goldberg, Ken Robotics In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy, and GET-3D-1.0, a mesh-based method using a 3D gripper model and ray-tracing. We evaluate both grasp planners against baselines with physical experiments, which suggest that GET-2D-1.0 can improve over a bounding box baseline by over 40% in lift success, shake survival, and force resistance. Experiments with GET-3D-1.0 suggest slight improvement compared to GET-2D-1.0 on lift success and shake survival, but are more computationally expensive, averaging 17 seconds of planning compared to 683 ms for GET-2D-1.0. |
| title | 2D and 3D Grasp Planners for the GET Asymmetrical Gripper |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.26212 |