Active Recognition and Manipulation for Mobile Robot Bin Picking

Abstract

Abstract. Grasping individual objects from an unordered pile in a box has been investigated in stationary scenarios so far. In this work, we present a complete system including active object perception and grasp planning for bin picking with a mobile robot. At the core of our approach is an efficient representation of objects as compounds of simple shape and contour primitives. This representation is used for both robust object perception and efficient grasp planning. For being able to manipulate previously unknown objects, we learn object models from single scans in an offline phase. During operation, objects are detected in the scene using a particularly robust probabilistic graph matching. To cope with severe occlusions we employ active perception considering not only previously unseen volume but also outcomes of primitive and object detection. The combination of shape and contour primitives makes our object perception approach particularly robust even in the presence of noise, occlusions, and missing information. For grasp planning, we efficiently pre-compute possible grasps directly on the learned object models. During operation, grasps and arm motions are planned in an efficient local multiresolution height map. All components are integrated and evaluated in a bin picking and part delivery task.

Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

“…Active perception approaches have been applied to robotic grasping in prior work, but rather than directly use grasp quality as a metric rely on a secondary task such as object modelling [21,22], point cloud reconstruction while searching for graspable geometry [3,9] or localising previously seen objects [23] to generate next best view commands. This is partly due to the difficulty in defining a probability distribution over predicted grasp poses [4], which we overcome by using a visual grasp detection system which generates a pixelwise distribution of grasp pose estimates [8].…”

Classifying and sorting cluttered piles of unknown objects with robots: A learning approach

“…The waste sorting problem involves a manipulation task similar to the more studied problems of "cleaning a table by grasping" [2] and bin picking [3], [4], [5], but also differs from them in several aspects:…”

Modelling and Control of a Mobile Robot, Equipped with an Arm in Cylindrical Coordinates with Uncoupled Tentacular Terminal

“…In the specialized literature were studied, in the last years, robotic systems which consist in mobile platforms equipped with robotic arms ( [1][2][3][4][5][6][7][8][9][10], [17][18][19][20][21][22][23][24][25]). They automatically move to a priori established target point where the robotic arm performs its task.…”