Localization and Grasp Planning for Bin Picking of Deformable Linear Objects

Jonas Dirr; Daniel Gebauer; Rüdiger Daub

doi:10.1016/j.procir.2023.06.041

Localization and Grasp Planning for Bin Picking of Deformable Linear Objects

Jonas Dirr, Daniel Gebauer, Rüdiger Daub

Lehrstuhl für Produktionstechnik und Energiespeichersysteme

Technische Universität München

Publikation: Beitrag in Fachzeitschrift › Konferenzartikel › Begutachtung

1 Zitat (Scopus)

Abstract

Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a concept for localization and grasp planning for bin picking of deformable linear objects (DLOs). First, a method for localization and reconstruction of unordered DLOs is introduced. Then an approach for part selection and uncertainty evaluation is described. The proposed concept promises to identify grasp regions for picking selected DLOs.

Originalsprache	Englisch
Seiten (von - bis)	235-240
Seitenumfang	6
Fachzeitschrift	Procedia CIRP
Jahrgang	118
DOIs	https://doi.org/10.1016/j.procir.2023.06.041
Publikationsstatus	Veröffentlicht - 2023
Veranstaltung	16th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2022 - Naples, Italien Dauer: 13 Juli 2022 → 15 Juli 2022

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title = "Localization and Grasp Planning for Bin Picking of Deformable Linear Objects",

abstract = "Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a concept for localization and grasp planning for bin picking of deformable linear objects (DLOs). First, a method for localization and reconstruction of unordered DLOs is introduced. Then an approach for part selection and uncertainty evaluation is described. The proposed concept promises to identify grasp regions for picking selected DLOs.",

keywords = "Bin picking, Cable assembly, Deformable linear objects, Robotic grasping, Robotic vision",

author = "Jonas Dirr and Daniel Gebauer and R{\"u}diger Daub",

note = "Publisher Copyright: {\textcopyright} 2023 Elsevier B.V.. All rights reserved.; 16th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2022 ; Conference date: 13-07-2022 Through 15-07-2022",

year = "2023",

doi = "10.1016/j.procir.2023.06.041",

language = "English",

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T1 - Localization and Grasp Planning for Bin Picking of Deformable Linear Objects

AU - Dirr, Jonas

AU - Gebauer, Daniel

AU - Daub, Rüdiger

PY - 2023

Y1 - 2023

N2 - Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a concept for localization and grasp planning for bin picking of deformable linear objects (DLOs). First, a method for localization and reconstruction of unordered DLOs is introduced. Then an approach for part selection and uncertainty evaluation is described. The proposed concept promises to identify grasp regions for picking selected DLOs.

AB - Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a concept for localization and grasp planning for bin picking of deformable linear objects (DLOs). First, a method for localization and reconstruction of unordered DLOs is introduced. Then an approach for part selection and uncertainty evaluation is described. The proposed concept promises to identify grasp regions for picking selected DLOs.

KW - Bin picking

KW - Cable assembly

KW - Deformable linear objects

KW - Robotic grasping

KW - Robotic vision

UR - http://www.scopus.com/inward/record.url?scp=85173578542&partnerID=8YFLogxK

U2 - 10.1016/j.procir.2023.06.041

DO - 10.1016/j.procir.2023.06.041

M3 - Conference article

AN - SCOPUS:85173578542

SN - 2212-8271

VL - 118

SP - 235

EP - 240

JO - Procedia CIRP

JF - Procedia CIRP

T2 - 16th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2022

Y2 - 13 July 2022 through 15 July 2022

ER -

Localization and Grasp Planning for Bin Picking of Deformable Linear Objects

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