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research-article

Handling Perception Uncertainty in Simulation Based Singulation Planning for Robotic Bin Picking

[+] Author and Article Information
Nithyananda Kumbla

Department of Mechanical Engineering, University of Maryland College Park
nkumbla@umd.edu

Shantanu Thakar

Department of Aerospace & Mechanical Engineering, University of Southern California
sthakar@usc.edu

Krishnanand Kaipa

Department of Mechanical & Aerospace Engineering, Old Dominion University
kkaipa@odu.edu

Jeremy Marvel

Intelligent Systems Division, National Institute of Standards and Technology
jeremy.marvel@nist.gov

Satyandra K. Gupta

Department of Aerospace & Mechanical Engineering, University of Southern California
skgupta@usc.edu

1Corresponding author.

ASME doi:10.1115/1.4038954 History: Revised December 14, 2017

Abstract

Robotic bin picking requires using a perception system to estimate the posture of parts in the bin. The selected singulation plan should be robust with respect to perception uncertainties. If the estimated posture is significantly different from the actual posture, then the singulation plan may fail during execution. In such cases, the singulation process will need to be repeated. We are interested in selecting singulation plans that minimize the expected task completion time. In order to estimate the expected task completion time for a proposed singulation plan, we need to estimate the probability of success and the plan execution time. Robotic bin picking needs to be done in real-time. Therefore, candidate singulation plans need to be generated and evaluated in real-time. This paper presents an approach for utilizing computationally efficient simulations for generating singulation plans. Results from physical experiments match well with predictions obtained from simulations.

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