Journal article
An Adaptive Robotic System for Doing Pick and Place Operations with Deformable Objects
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.
Language: | English |
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Publisher: | Springer Netherlands |
Year: | 2019 |
Pages: | 81-100 |
Journal subtitle: | With a Special Section on Unmanned Systems |
ISSN: | 15730409 and 09210296 |
Types: | Journal article |
DOI: | 10.1007/s10846-018-0958-6 |
ORCIDs: | 0000-0001-7538-2486 and Aanæs, Henrik |