Name
Title | ||
|---|---|---|
Enhancing robotic unstructured bin-picking performance by enabling remote human interventions in challenging perception scenarios |
Abstract | ||
|---|---|---|
We present an approach that enables a robot to initiate a call to a remote human operator and ask help in resolving automated perception system failures during bin-picking operations. Our approach allows a robot to evaluate the quality of part recognition and pose estimation, based on a confidence-measure, and thereby determine whether to proceed with the task execution or to request assistance from a human in resolving the predicted perception failure. We present an automated perception algorithm that performs the joint task of part recognition and 6 degree-of-freedom pose estimation, and has built-in features to initiate the call to the human when needed. We also present the underlying mechanism for a rationalized basis for making the call to the human. If uncertainty in part detection leads to perception failure, then human intervention is invoked. We present a new user interface that enables remote human interventions when necessary. We report results from experiments with a dual-armed Baxter robot to validate our approach. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/COASE.2016.7743462 | 2016 IEEE International Conference on Automation Science and Engineering (CASE) |
Keywords | Field | DocType |
robotic unstructured bin-picking performance,remote human intervention,automated perception system failure,bin-picking operation,part recognition,pose estimation,confidence measure,automated perception algorithm,part detection,user interface,dual-armed Baxter robot | Psychological intervention,Ask price,Pose,Human–computer interaction,Artificial intelligence,Solid modeling,Engineering,Robot,User interface,Perception,Human–robot interaction | Conference |
ISBN | Citations | PageRank |
978-1-5090-2410-0 | 1 | 0.36 |
References | Authors | |
19 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krishnanand N. Kaipa | 1 | 81 | 10.88 |
| Akshaya S. Kankanhalli-Nagendra | 2 | 1 | 0.36 |
| Nithyananda B. Kumbla | 3 | 1 | 0.36 |
| Shaurya Shriyam | 4 | 6 | 1.49 |
| Srudeep Somnaath Thevendria-Karthic | 5 | 4 | 0.78 |
| Jeremy Marvel | 6 | 44 | 9.78 |
| Satyandra K Gupta | 7 | 687 | 77.11 |