| 1. |
- Almeida, Diogo, 1991-, et al.
(författare)
-
Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2017
-
Ingår i: Warehouse Picking Automation Workshop 2017.
-
Konferensbidrag (populärvet., debatt m.m.)abstract
- In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.
|
|
| 2. |
- Almeida, Diogo, 1991-, et al.
(författare)
-
Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2020
-
Ingår i: Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. - Cham : Springer Nature. ; , s. 53-62
-
Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In this chapter we summarize the solution developed by team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition, which simulated a warehouse automation scenario, was divided into two parts: a picking task, where the robot picks items from a shelf and places them into a tote, and a stowing task, where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting with a high-level overview of the system, delving later into the details of our perception pipeline and strategy for manipulation and grasping. The hardware platform used in our solution consists of a Baxter robot equipped with multiple vision sensors.
|
|
| 3. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
Discrete Bimanual Manipulation for Wrench Balancing
-
Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object.However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits.In this work, we consider the problem of balancing the wrenches experienced by a dual-arm robot grasping a rigid tray.The distribution of wrenches among the robot arms changes due to objects being placed on the tray.We present an approach to reduce the wrench imbalance among arms through discrete bimanual manipulation.Our approach is based on sequential sliding motions of the grasp points on the surface of the object, to attain a more balanced configuration.%This is achieved in a discrete manner, one arm at a time, to minimize the potential for undesirable object motion during execution.We validate our modeling approach and system design through a set of robot experiments.
|
|
| 4. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
Discrete Bimanual Manipulation for Wrench Balancing
- 2020
-
Ingår i: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. - : Institute of Electrical and Electronics Engineers Inc.. - 1050-4729 .- 2577-087X. - 9781728173955 ; , s. 2631-2637
-
Konferensbidrag (refereegranskat)abstract
- Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object. However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits. In this work, we consider the problem of balancing the wrenches experienced by a dual-arm robot grasping a rigid tray. The distribution of wrenches among the robot arms changes due to objects being placed on the tray. We present an approach to reduce the wrench imbalance among arms through discrete bimanual manipulation. Our approach is based on sequential sliding motions of the grasp points on the surface of the object, to attain a more balanced configuration. We validate our modeling approach and system design through a set of robot experiments.
|
|
| 5. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
Benchmarking In-Hand Manipulation
- 2020
-
Ingår i: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 5:2, s. 588-595
-
Tidskriftsartikel (refereegranskat)abstract
- The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the systems ability to change the pose of a hand-held object by either using the fingers, environment or a combination of both. Given an object surface mesh from the YCB data-set, we provide examples of initial and goal states (i.e. static object poses and fingertip locations) for various in-hand manipulation tasks. We further propose metrics that measure the error in reaching the goal state from a specific initial state, which, when aggregated across all tasks, also serves as a measure of the systems in-hand manipulation capability. We provide supporting software, task examples, and evaluation results associated with the benchmark.
|
|
| 6. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
Dexterous Manipulation Graphs
- 2018
-
Ingår i: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS). - : IEEE. - 9781538680940 ; , s. 2040-2047
-
Konferensbidrag (refereegranskat)abstract
- We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.
|
|
| 7. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
Dual-Arm In-Hand Manipulation Using Visual Feedback
- 2019
-
Ingår i: IEEE-RAS International Conference on Humanoid Robots. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781538676301 ; , s. 387-394
-
Konferensbidrag (refereegranskat)abstract
- In this work, we address the problem of executing in-hand manipulation based on visual input. Given an initial grasp, the robot has to change its grasp configuration without releasing the object. We propose a method for in-hand manipulation planning and execution based on information on the object's shape using a dual-Arm robot. From the available information on the object, which can be a complete point cloud but also partial data, our method plans a sequence of rotations and translations to reconfigure the object's pose. This sequence is executed using non-prehensile pushes defined as relative motions between the two robot arms.
|
|
| 8. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
In-Hand Manipulation of Objects with Unknown Shapes
-
Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- This work addresses the problem of changing grasp configurations on objects with an unknown shape through in-hand manipulation. Our approach leverages shape priors,learned as deep generative models, to infer novel object shapesfrom partial visual sensing. The Dexterous Manipulation Graph method is extended to build upon incremental data and account for estimation uncertainty in searching a sequence of manipulation actions. We show that our approach successfully solves in-hand manipulation tasks with unknown objects, and demonstrate the validity of these solutions with robot experiments.
|
|
| 9. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
In-Hand Manipulation of Objects with Unknown Shapes
-
Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- This work addresses the problem of changing grasp configurations on objects with an unknown shape through in-hand manipulation. Our approach leverages shape priors,learned as deep generative models, to infer novel object shapesfrom partial visual sensing. The Dexterous Manipulation Graph method is extended to build upon incremental data and account for estimation uncertainty in searching a sequence of manipulation actions. We show that our approach successfully solves in-hand manipulation tasks with unknown objects, and demonstrate the validity of these solutions with robot experiments.
|
|
| 10. |
- Cruciani, Silvia, 1991-, et al.
(författare)
-
In-Hand Manipulation of Objects with Unknown Shapes
- 2020
-
Ingår i: 2020 IEEE International Conference on Robotics and Automation (ICRA). - : Institute of Electrical and Electronics Engineers Inc.. ; , s. 8848-8854
-
Konferensbidrag (refereegranskat)abstract
- This work addresses the problem of changing grasp configurations on objects with an unknown shape through in-hand manipulation. Our approach leverages shape priors, learned as deep generative models, to infer novel object shapes from partial visual sensing. The Dexterous Manipulation Graph method is extended to build incrementally and account for object shape uncertainty when planning a sequence of manipulation actions. We show that our approach successfully solves in-hand manipulation tasks with unknown objects, and demonstrate the validity of these solutions with robot experiments.
|
|
