Grasp planning for thin-walled deformable objects

In this work, we consider the challenge of grasping thinwalled deformable objects like plastic bottles and other containers, which are very common in household environments. The deformability of such objects varies considerably along their surface, depending on the local geometry. To consider such phenomenon, we propose a grasp planner, which first uses the Finite Element Method (FEM) for deformation simulation to pre-calculate the map of local stiffness and then determines feasible grasp points based on this map. Experiments with a two-finger gripper are performed in order to verify the predicted grasp points.