Paper Info
Title
Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III.
Abstract
Because bin-picking effectively mirrors great challenges in robotics, it has been a relevant robotic showpiece application for several decades. In this paper we describe the computer vision algorithms in combination with the sophisticated control schemes of the robot and demonstrate a reliable and robust solution to the chosen problem. This paper approaches the bin-picking issue by applying the latest state-of-the-art hardware components, namely an impedance controlled lightweight robot and a Time-of-Flight camera. Lightweight robots have gained new capabilities in both sensing and actuation without suffering a decrease in speed and payload. Time-of- Flight cameras are superior to common proximity sensors in the sense that they provide depth and intensity images in video frame rate independent of textures. The bin-picking solution presented in this paper aims at extending the classical bin-picking problem by incorporating an environment model and allowing for the physical human-robot interaction during the entire process. Existing imprecisions in Time-of-Flight camera measurements and environment uncertainties are compensated by the compliant behavior of the robot. The overall process is implemented in a generic state machine that also monitors the entire bin-picking process.
Year
DOI
Venue
2010
10.1109/IROS.2010.5651046
IROS
Keywords
Field
DocType
state machine,human robot interaction,image texture,video frame rate,time of flight,computer vision
Computer vision,Proximity sensor,Computer science,Time-of-flight camera,Impedance control,Frame rate,Artificial intelligence,Robot,Human–robot interaction,Robotics,Payload
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4244-6674-0
17
PageRank 
References 
Authors
1.13
8
6
Name
Order
Citations
PageRank
Stefan Fuchs118313.65
Sami Haddadin253548.64
Maik Keller31337.03
Sven Parusel42009.98
Andreas Kolb578371.76
Michael Suppa653336.02