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Vision-Based Solutions for Robotic Manipulation and Navigation Applied to Object Picking and Distribution

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Abstract

This paper presents a robotic demonstrator for manipulation and distribution of objects. The demonstrator relies on robust 3D vision-based solutions for navigation, object detection and detection of graspable surfaces using the rc_visard, a self-registering stereo vision sensor. Suitable software modules were developed for SLAM and for model-free suction gripping. The modules run onboard the sensor, which enables creating the presented demonstrator as a standalone application that does not require an additional host PC. The modules are interfaced with ROS, which allows a quick implementation of a fully functional robotic application.

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Notes

  1. https://www.turtlebot.com/turtlebot2/

  2. https://roboception.com/en/rc_visard-en/

  3. https://www.kuka.com/en-us/products/mobility/mobile-robot-systems/kuka-flexfellow

  4. https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa

  5. https://cdn.schmalz.com/media/05_services/catalog/vt/Flyer_ECBPi_CobotPump_EN.pdf

  6. http://wiki.ros.org/rc_visard

  7. http://cocodataset.org

  8. http://host.robots.ox.ac.uk/pascal/VOC/index.html

  9. https://github.com/roboception/rcapi_java

  10. https://www.youtube.com/watch?v=wdK23-gapqw

  11. https://www.swisslog.com/en-us/warehouse-logistics-distribution-center-automation/products-systems-solutions/picking-palletizing-order-fulfillment/robot-based-robotics-fully-automated/itempiq-single-item-picking

  12. https://www.tgw-group.com/en/news-press/press-releases/rovolution

  13. http://www.thomas-project.eu/

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Funding

This project was partially funded by the European Union’s Horizon 2020 research and innovation programme under the project ROSIN, Grant agreement no. 732287, with the FTP (Focused Technical Project) VISARD4ROS.

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Authors and Affiliations

  1. Roboception GmbH, Munich, Germany

    Máximo A. Roa-Garzón, Elena F. Gambaro, Monika Florek-Jasinska, Felix Endres, Felix Ruess, Raphael Schaller, Christian Emmerich, Korbinian Muenster & Michael Suppa

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  1. Máximo A. Roa-Garzón
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  2. Elena F. Gambaro
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  3. Monika Florek-Jasinska
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  4. Felix Endres
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  5. Felix Ruess
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  6. Raphael Schaller
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  7. Christian Emmerich
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  8. Korbinian Muenster
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  9. Michael Suppa
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Correspondence to Máximo A. Roa-Garzón.

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Roa-Garzón, M.A., Gambaro, E.F., Florek-Jasinska, M. et al. Vision-Based Solutions for Robotic Manipulation and Navigation Applied to Object Picking and Distribution. Künstl Intell 33, 171–180 (2019). https://doi.org/10.1007/s13218-019-00588-z

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  • DOI: https://doi.org/10.1007/s13218-019-00588-z

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