Development and Validation of Suction Cup Models for Object Manipulation on Irregular Surfaces

Project Description

When automating the picking of irregular objects, it is common practice to use simple suction cup models to evaluate potential gripping positions.
This project aims to reproduce state-of-the-art suction cup models within a standardized environment, enabling validation through a shared benchmark. The student will be responsible for implementing existing online models and designing a validation benchmark to assess the transportation capabilities of selected gripping positions.

Prerequisites

• Fundamentals of Programming (Fondamenti di Informatica T)
• Fundamentals of Mechanics (Meccanica delle Macchine T)
• Mechanics of Materials (Comportamento Meccanico dei Materiali T)
• Strong problem-solving skills

Not required but good to have

• Basic knowledge of Python programming

Target Objectives

• Develop proficiency in software and libraries for 3D simulation and interaction
• Acquire knowledge in suction cup modeling for dataset creation
• Strengthen competence in object dynamics during manipulation

Expected Results

• Implementation of suction cup models to evaluate seal formation on irregular surfaces
• Design of a validation benchmark focused on manipulability after gripping
• Development of a pipeline for performance comparison

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