TY - JOUR
T1 - Bin picking of deformable linear objects using object-oriented grasp planning
AU - Dirr, Jonas
AU - Xu, Cong
AU - Zeller, Janik
AU - Gebauer, Daniel
AU - Daub, Rüdiger
N1 - Publisher Copyright:
© 2024 The Authors.
PY - 2024
Y1 - 2024
N2 - Picking deformable linear objects (DLOs) from an unorganized supply is required for many industrial handling and assembly tasks. Automated picking with robots can address labour shortage, but remains an unresolved challenge for DLOs. This paper proposes an approach for bin picking of DLOs using object-oriented grasp planning. Therefore, DLOs are localized in 2D images through general purpose instance segmentation, and the DLO topology is determined. Subsequently, grasp pose candidates are sampled and evaluated, and suitable instances for picking are determined. Thus, this approach derives a collision-free grasp pose for picking a suitable object. Real-world experiments demonstrate a success rate of up to 97 % for picking DLOs from overlapping and disordered arrangements in the first attempt.
AB - Picking deformable linear objects (DLOs) from an unorganized supply is required for many industrial handling and assembly tasks. Automated picking with robots can address labour shortage, but remains an unresolved challenge for DLOs. This paper proposes an approach for bin picking of DLOs using object-oriented grasp planning. Therefore, DLOs are localized in 2D images through general purpose instance segmentation, and the DLO topology is determined. Subsequently, grasp pose candidates are sampled and evaluated, and suitable instances for picking are determined. Thus, this approach derives a collision-free grasp pose for picking a suitable object. Real-world experiments demonstrate a success rate of up to 97 % for picking DLOs from overlapping and disordered arrangements in the first attempt.
KW - cable
KW - deformable one-dimensional objects
KW - DLO
KW - grasping
KW - Robotic picking
KW - wire
UR - http://www.scopus.com/inward/record.url?scp=85213061047&partnerID=8YFLogxK
U2 - 10.1016/j.procir.2024.10.169
DO - 10.1016/j.procir.2024.10.169
M3 - Conference article
AN - SCOPUS:85213061047
SN - 2405-8971
VL - 58
SP - 810
EP - 815
JO - IFAC Proceedings Volumes (IFAC-PapersOnline)
JF - IFAC Proceedings Volumes (IFAC-PapersOnline)
IS - 27
T2 - 18th IFAC Workshop on Time Delay Systems, TDS 2024
Y2 - 2 October 2023 through 5 October 2023
ER -