广东工业大学学报2026，Vol.43Issue(3)：93-105,13.DOI:10.12052/gdutxb.250099
基于可微物理约束的六自由度抓取位姿检测
6-DoF Grasp Pose Detection Based on Differentiable Physical Constraints
摘要
Abstract
Existing six-degree-of-freedom(6-DoF)grasp pose detection methods remain weak in explicitly modeling grasp stability and physical feasibility,making it difficult to ensure high grasp success rates for robotic execution in cluttered scenes.To address this limitation,we propose DPCGrasp,an end-to-end 6-DoF grasp detection method that incorporates differentiable physical constraints.The proposed method introduces four physically motivated constraints:antipodal alignment,surface flatness,center-of-mass proximity,and contact tolerance.These constraints are formulated as differentiable regularization terms and integrated into the training objective to promote physically plausible grasp configurations.To enhance local geometric understanding around candidate grasp points,we design a multi-scale cylindrical sampling and feature fusion module.Furthermore,we develop a self-attention-based multi-parameter grasp prediction head to capture latent dependencies among grasp parameters,improving the consistency of parameter outputs under task-decoupled learning.Experimental results show that the proposed method improves the average precision by 4.66 percentage points on the large-scale GraspNet-1Billion dataset compared to state-of-the-art methods.In real-world robotic experiments,it attains a 7.83 percentage points increase in average grasp success rate,confirming its effectiveness and practical feasibility in actual grasping scenarios.关键词
六自由度抓取/可微物理约束/多参数预测/自注意力机制Key words
six-degree-of-freedom grasping/differentiable physical constraints/multi-parameter prediction/self-attention mechanism分类
信息技术与安全科学引用本文复制引用
廖明羽,高军礼..基于可微物理约束的六自由度抓取位姿检测[J].广东工业大学学报,2026,43(3):93-105,13.基金项目
广州市基础研究计划市校(院)项目(2023A03J0279) （院）
