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This book introduces methods for bin picking in manufacturing. The target objects include both rigid and deformable objects. Robotic bin picking is a valuable task in manufacturing, aiming to automate the assembly process by utilizing robots to pick necessary objects from disorganized bins.
Background, Introduction and Motivation.- Part I Avoiding Picking Potentially Entangled Objects.- Deep Learning for Classifying Potential Entangled Objects.- Entanglement Map: A Visual Representation for Entangled Objects.- Shape Reconstruction of Entangled Objects.- Part II Disentangling Manipulation Planning for Entangled Objects.- Affordance Maps for Picking or Separating Entangled Objects.- Learning Efficient Policies for Entangled Wire Harnesses.- Dynamic and Bimanual Manipulation with F/T Feedback for Entangled Wire Harnesses.- Conclusions.
Watanabe,Tetsuyo, Tetsuyou Watanabe, Kensuke Harada, Mitsunori Tada, Kanazawa University) Watanabe, Tetsuyou (Associate Professor, Faculty of Mechanical Engineering, Institute of Science and Engineering, Osaka University) Harada, Kensuke (Professor, Graduated School of Engineering Science, AIST) Tada, Mitsunori (Group Leader, Digital Human Research Group, Human Informatics Research Institute