An Adaptive Robotic System for Doing Pick and Place Operations with Deformable Objects View Full Text


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Article Info

DATE

2019-04

AUTHORS

Troels Bo Jørgensen, Sebastian Hoppe Nesgaard Jensen, Henrik Aanæs, Niels Worsøe Hansen, Norbert Krüger

ABSTRACT

This paper presents a robot system for performing pick and place operations with deformable objects. The system uses a structured light scanner to capture a point cloud of the object to be grasped. This point cloud is then analyzed to determine a pick and place action. Finally, the determined action is executed by the robot to solve the task. The robotic placement strategy contains several free parameters, which should be chosen in a context-specific manner. To determine these parameters we rely on simulation-based optimization of the individual use cases. The entire system is tested extensively in real world trials. First, the reliability of the grasp is evaluated for 7 different types of pork cuts. Then the validity of the simulation-based optimization of the placement strategy is evaluated for 2 of the most different pork cuts, to show the generality of the overall approach. More... »

PAGES

81-100

References to SciGraph publications

  • 2016-02. Bayesian optimization for learning gaits under uncertainty in ANNALS OF MATHEMATICS AND ARTIFICIAL INTELLIGENCE
  • 2018-12. RBFOpt: an open-source library for black-box optimization with costly function evaluations in MATHEMATICAL PROGRAMMING COMPUTATION
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    http://scigraph.springernature.com/pub.10.1007/s10846-018-0958-6

    DOI

    http://dx.doi.org/10.1007/s10846-018-0958-6

    DIMENSIONS

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