Robotic bin picking requires using a perception system to estimate the posture of parts in the bin. The selected singulation plan should be robust with respect to perception uncertainties. If the estimated posture is significantly different from the actual posture, then the singulation plan may fail during execution. In such cases, the singulation process will need to be repeated. We are interested in selecting singulation plans that minimize the expected task completion time. In order to estimate the expected task completion time for a proposed singulation plan, we need to estimate the probability of success and the plan execution time. Robotic bin picking needs to be done in real-time. Therefore candidate singulation plans need to be generated and evaluated in real-time. This paper presents an approach for utilizing computationally efficient simulations for on-line evaluation of singulation plans. Results from physical experiments match well with predictions obtained from simulations.
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ASME 2017 12th International Manufacturing Science and Engineering Conference collocated with the JSME/ASME 2017 6th International Conference on Materials and Processing
June 4–8, 2017
Los Angeles, California, USA
Conference Sponsors:
- Manufacturing Engineering Division
ISBN:
978-0-7918-5074-9
PROCEEDINGS PAPER
Simulation Based On-Line Evaluation of Singulation Plans to Handle Perception Uncertainty in Robotic Bin Picking Available to Purchase
Nithyananda B. Kumbla,
Nithyananda B. Kumbla
University of Maryland, College Park, MD
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Shantanu Thakar,
Shantanu Thakar
University of Southern California, Los Angeles, CA
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Krishnanand N. Kaipa,
Krishnanand N. Kaipa
Old Dominion University, Norfolk, VA
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Jeremy Marvel,
Jeremy Marvel
National Institute of Standards and Technology, Gaithersburg, MD
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Satyandra K. Gupta
Satyandra K. Gupta
University of Southern California, Los Angeles, CA
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Nithyananda B. Kumbla
University of Maryland, College Park, MD
Shantanu Thakar
University of Southern California, Los Angeles, CA
Krishnanand N. Kaipa
Old Dominion University, Norfolk, VA
Jeremy Marvel
National Institute of Standards and Technology, Gaithersburg, MD
Satyandra K. Gupta
University of Southern California, Los Angeles, CA
Paper No:
MSEC2017-2955, V003T04A002; 12 pages
Published Online:
July 24, 2017
Citation
Kumbla, NB, Thakar, S, Kaipa, KN, Marvel, J, & Gupta, SK. "Simulation Based On-Line Evaluation of Singulation Plans to Handle Perception Uncertainty in Robotic Bin Picking." Proceedings of the ASME 2017 12th International Manufacturing Science and Engineering Conference collocated with the JSME/ASME 2017 6th International Conference on Materials and Processing. Volume 3: Manufacturing Equipment and Systems. Los Angeles, California, USA. June 4–8, 2017. V003T04A002. ASME. https://doi.org/10.1115/MSEC2017-2955
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