robot to “scoop objects from underneath, or grasp objects
that were flush against a shelf wall”. Team Grizzly used a
combination of suction and grasping using Baxter’s stock
suction cap in one hand and the Yale Open Hand [5] in
the other. The online choice of which tool to use for each
target item was based on previous performance data for each
method and object. The Rutgers U. Pracsys team collaborated
with a company, Unigripper, to design a custom-size vacuum
gripper with a wrist-like DoF, which has multiple openings
where vacuum is generated. The Unigripper tool for Rutgers
was combined with a Robotiq 3-finger hand. Team Nanyang
deployed a gripper that combined two suctions and parallel
fingers. The dual suction mechanism allows the gripper to
suck items from the front, top, or side. The choice of which
picking mechanism to use depends on the item pose, item
position inside the bin, presence of other items, and previous
performance of using the mechanisms with the items. Team
CVAP modified the gripper of a PR2 to be “thinner”, allowing
them more mobility inside a bin. The University of Alberta