No abstract

It is challenging for a robot to densely pack various types of objects into a box because the packing posture of an object depends on the grasp configuration of the gripper. In this study, assuming multiple grippers, we propose a method for automatically planning the motion of a robot that packs objects into a box , considering whether the grippers can grasp the objects and pack them in a box. The proposed method first determines the appropriate gripper candidates for grasping each object. The initial solution is then generated by arranging the objects in random order and placing them in the available space in order, considering the gripper for each object. To increase the filling rate of each container and reduce the final number of required containers, the system repeatedly exchanges and replaces the objects in each container. Finally, the grasping and placement postures using the appropriate gripper are obtained for each object position, based on which the packing motion is planned. Through simulation and experiments, we determine the container and the position where the object is to be inserted, and confirm that the object can be placed in a suboptimal position by planning the grasping motion of the robot without collision using a gripper that can grasp the object.

No abstract

<p>To realize a dense object placement into a container, we propose a robotic packing motion planner by pushing objects to the side of other objects. Our method comprises three planning strategies, i.e., object placement planning, robotic packing-action planning, and action sequence planning. Object placement planning generates objects’ placement into a container without gaps between objects. Based on the planned placement, the robotic packing-action planner selectively uses two action strategies where one is to directly place the object in the desired location of a container by using a pick-andplace approach, and the other is to first place the object at a certain distance from the surrounding object and then push it to achieve the placement without gaps. Finally, the action sequence planning plans the order of selected manipulation strategies. Through experiments, we confirmed that the robot efficiently packs multiple objects into a container by effectively using object pushing.</p>

<p>To realize a dense object placement into a container, we propose a robotic packing motion planner by pushing objects to the side of other objects. Our method comprises three planning strategies, i.e., object placement planning, robotic packing-action planning, and action sequence planning. Object placement planning generates objects’ placement into a container without gaps between objects. Based on the planned placement, the robotic packing-action planner selectively uses two action strategies where one is to directly place the object in the desired location of a container by using a pick-andplace approach, and the other is to first place the object at a certain distance from the surrounding object and then push it to achieve the placement without gaps. Finally, the action sequence planning plans the order of selected manipulation strategies. Through experiments, we confirmed that the robot efficiently packs multiple objects into a container by effectively using object pushing.</p>