Name
Title | ||
|---|---|---|
An Adaptive Robotic System for Doing Pick and Place Operations with Deformable Objects. |
Abstract | ||
|---|---|---|
This paper presents a robot system for performing pick and place operations with deformable objects. The system uses a structured light scanner to capture a point cloud of the object to be grasped. This point cloud is then analyzed to determine a pick and place action. Finally, the determined action is executed by the robot to solve the task. The robotic placement strategy contains several free parameters, which should be chosen in a context-specific manner. To determine these parameters we rely on simulation-based optimization of the individual use cases. The entire system is tested extensively in real world trials. First, the reliability of the grasp is evaluated for 7 different types of pork cuts. Then the validity of the simulation-based optimization of the placement strategy is evaluated for 2 of the most different pork cuts, to show the generality of the overall approach. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1007/s10846-018-0958-6 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Robotic manipulation, Deformable objects, Structured light scanner, Vision-based meat analysis, Simulation-based optimization | GRASP,Use case,Structured light,Simulation-based optimization,Control engineering,SMT placement equipment,Scanner,Engineering,Point cloud,Robot | Journal |
Volume | Issue | ISSN |
94 | 1 | 1573-0409 |
Citations | PageRank | References |
0 | 0.34 | 16 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Troels Bo Jørgensen | 1 | 0 | 1.01 |
| Sebastian Hoppe Nesgaard Jensen | 2 | 0 | 0.34 |
| Henrik Aanæs | 3 | 167 | 18.57 |
| Niels Worsøe Hansen | 4 | 0 | 0.34 |
| Norbert Krüger | 5 | 40 | 8.76 |