In this paper, we address the complexities arising due to occlusions in robotic bin-picking. Our focus is on mixed-bins. Most traditional planners try to find collision-free paths to extract objects, while returning a failure whenever a collision is anticipated between the object to be extracted and a neighboring object occluding the former. We take a different approach in this paper. Our approach is inspired by the fact that simple motions of the grasped object may result in the transition of the object from a collision-state to a collision-free state. Our approach exploits the local geometric relationships between the objects in contact with each other and the change in these relationships as the grasped object is moved to make conservative predictions whether such motion results in tangle-free extraction. We demonstrate our approach using experiments with a Kuka LBR iiwa robot singulating objects from a pile of convex and concave objects.

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