Fast Vision-based Grasp and Delivery Planning for unknown Objects
Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany
Tagungsband: ROBOTIK 2012
Seiten: 5Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Baumgartl, Johannes; Henrich, Dominik (Chair for Applied Computer Science III (Robotics and Embedded Systems), University of Bayreuth, Germany)
Fast manipulation of unknown objects is a basic ability on the way to the robotic co-worker, because it is mostly impractical to have a model of each object in the environment. This paper addresses the problem of grasping and delivering unknown objects by an industrial robot from a table using one single camera image. The delivery planning for each object is done with respect to the packing problem, with the additional constraint that the objects must be regraspable after their delivery. The aim is to build up a system, which has for example the ability to tidy up a table. For this aim, we present two planning algorithms, one for the grasp planning and one of the delivery planning. The performance and robustness of the system is validated by test runs with several objects.