Robotic Edge-Rolling Manipulation: A Grasp Planning Approach

Specian, Andrew; Mucchiani, Caio; Yim, Mark; Seo, Jung-Won

doi:10.1109/lra.2018.2849828

Cited by 17 publications

(7 citation statements)

References 30 publications

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“…We built two NeuroVI-based datasets, including the packages' recognition and falling datasets (Specian et al, 2018 ). All these datasets can be downloaded from the public website in this paper.…”

Section: Resultsmentioning

confidence: 99%

NeuroVI-based new datasets and space attention network for the recognition and falling detection of delivery packages

Liu

Yang²,

Xu³

et al. 2022

Front. Neurorobot.

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With the popularity of online-shopping, more and more delivery packages have led to stacking at sorting centers. Robotic detection can improve sorting efficiency. Standard datasets in computer vision are crucial for visual detection. A neuromorphic vision (NeuroVI) camera is a bio-inspired camera that can capture dynamic changes of pixels in the environment and filter out redundant background information with low latency. NeuroVI records pixel changes in the environment with the output of event-points, which are very suitable for the detection of delivery packages. However, there is currently no logistics dataset with the sensor, which limits its application prospects. This paper encodes the events stream of delivery packages, and converts the event-points into frame image datasets for recognition. Considering the falling risk during the packages' transportation on the sorting belt, another falling dataset is made for the first time. Finally, we combine different encoding images to enhance the feature-extraction on the YOLO network. The comparative results show that the new datasets and image-confusing network can improve the detection accuracy with the new NeuroVI.

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Section: Resultsmentioning

confidence: 99%

NeuroVI-based new datasets and space attention network for the recognition and falling detection of delivery packages

Liu

Yang²,

Xu³

et al. 2022

Front. Neurorobot.

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“…Rolling is a variation of tumbling, where the manipulated object is rotated continuously along a surface [24] [25].…”

Section: Related Workmentioning

confidence: 99%

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Hayakawa¹,

Wan²,

Koyama³

et al. 2021

Preprint

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This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of directly manipulating heavy plates that collaborative robots cannot afford, the paper develops a planner for collaborative robots to operate crane pulley blocks. The planner assumes a target plate is pre-attached to the crane hook. It optimizes dualarm action sequences and plans the robot's dual-arm motion that pulls the rope of the crane pulley blocks to lift up the plate. The crane pulley blocks reduce the payload that each robotic arm needs to bear. When the plate is lifted up to a satisfying pose, the planner plans a pushing motion for one of the robot arms to tumble over the plate while considering force and moment constraints. The article presents the technical details of the planner and several experiments and analysis carried out using a dual-arm robot made by two Universal Robots UR3 arms. The influence of various parameters and optimization goals are investigated and compared in depth. The results show that the proposed planner is flexible and efficient.

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“…[9] presents a highly reliable page turning technique using mechanical adhesion by polymeric material. Our approach to page turning is to take advantage of nonprehensile, dynamic manipulation (see [10], [11] and references therein), which has also been addressed by some of our previous works [12]- [14].…”

Section: Related Workmentioning

confidence: 99%

Dynamic Flex-and-Flip Manipulation of Deformable Linear Objects

Jiang

Nazir

Abbasnejad

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose fingers are placed on top of it, and later the increased internal energy of the object helps the gripper obtain a stable pinch grasp while the object flips into the space between the fingers. The dynamic interaction between the flexible object and the gripper is elaborated by analyzing how energy is exchanged. We also discuss the condition on friction to prevent loss of contact. Our flex-and-flip manipulation technique can be implemented with open-loop control and lends itself to underactuated, compliant finger mechanism. A set of experiments in robotic page turning performed with our customized hardware and software system demonstrates the effectiveness and robustness of the manipulation technique.

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Robotic Edge-Rolling Manipulation: A Grasp Planning Approach

Cited by 17 publications

References 30 publications

NeuroVI-based new datasets and space attention network for the recognition and falling detection of delivery packages

NeuroVI-based new datasets and space attention network for the recognition and falling detection of delivery packages

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Dynamic Flex-and-Flip Manipulation of Deformable Linear Objects

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