Handling Perception Uncertainty in Simulation-Based Singulation Planning for Robotic Bin PickingSource: Journal of Computing and Information Science in Engineering:;2018:;volume( 018 ):;issue: 002::page 21004Author:Kumbla, Nithyananda B.
,
Thakar, Shantanu
,
Kaipa, Krishnanand N.
,
Marvel, Jeremy
,
Gupta, Satyandra K.
DOI: 10.1115/1.4038954Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: 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 generating singulation plans. Results from physical experiments match well with the predictions obtained from simulations.
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contributor author | Kumbla, Nithyananda B. | |
contributor author | Thakar, Shantanu | |
contributor author | Kaipa, Krishnanand N. | |
contributor author | Marvel, Jeremy | |
contributor author | Gupta, Satyandra K. | |
date accessioned | 2019-02-28T11:12:23Z | |
date available | 2019-02-28T11:12:23Z | |
date copyright | 3/15/2018 12:00:00 AM | |
date issued | 2018 | |
identifier issn | 1530-9827 | |
identifier other | jcise_018_02_021004.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4253819 | |
description abstract | 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 generating singulation plans. Results from physical experiments match well with the predictions obtained from simulations. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Handling Perception Uncertainty in Simulation-Based Singulation Planning for Robotic Bin Picking | |
type | Journal Paper | |
journal volume | 18 | |
journal issue | 2 | |
journal title | Journal of Computing and Information Science in Engineering | |
identifier doi | 10.1115/1.4038954 | |
journal fristpage | 21004 | |
journal lastpage | 021004-10 | |
tree | Journal of Computing and Information Science in Engineering:;2018:;volume( 018 ):;issue: 002 | |
contenttype | Fulltext |