Towards robust product packing with a minimalistic end-effector

Rahul Shome, Wei N. Tang, Changkyu Song, Chaitanya Mitash, Hristiyan Kourtev, Jingjin Yu, Abdeslam Boularias, Kostas E. Bekris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9007-9013
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

End effectors
Pipelines
Robots
Hardware
Warehouses
Bins
Piles
Containers
Automation
Vacuum
Planning
Sensors
Costs

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Shome, R., Tang, W. N., Song, C., Mitash, C., Kourtev, H., Yu, J., ... Bekris, K. E. (2019). Towards robust product packing with a minimalistic end-effector. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 9007-9013). [8793966] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793966
Shome, Rahul ; Tang, Wei N. ; Song, Changkyu ; Mitash, Chaitanya ; Kourtev, Hristiyan ; Yu, Jingjin ; Boularias, Abdeslam ; Bekris, Kostas E. / Towards robust product packing with a minimalistic end-effector. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 9007-9013 (Proceedings - IEEE International Conference on Robotics and Automation).
@inproceedings{579f258b677b41dba7d6b8c447a6d858,
title = "Towards robust product packing with a minimalistic end-effector",
abstract = "Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.",
author = "Rahul Shome and Tang, {Wei N.} and Changkyu Song and Chaitanya Mitash and Hristiyan Kourtev and Jingjin Yu and Abdeslam Boularias and Bekris, {Kostas E.}",
year = "2019",
month = "5",
doi = "10.1109/ICRA.2019.8793966",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "9007--9013",
booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",
address = "United States",

}

Shome, R, Tang, WN, Song, C, Mitash, C, Kourtev, H, Yu, J, Boularias, A & Bekris, KE 2019, Towards robust product packing with a minimalistic end-effector. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793966, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 9007-9013, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793966

Towards robust product packing with a minimalistic end-effector. / Shome, Rahul; Tang, Wei N.; Song, Changkyu; Mitash, Chaitanya; Kourtev, Hristiyan; Yu, Jingjin; Boularias, Abdeslam; Bekris, Kostas E.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 9007-9013 8793966 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - Towards robust product packing with a minimalistic end-effector

AU - Shome, Rahul

AU - Tang, Wei N.

AU - Song, Changkyu

AU - Mitash, Chaitanya

AU - Kourtev, Hristiyan

AU - Yu, Jingjin

AU - Boularias, Abdeslam

AU - Bekris, Kostas E.

PY - 2019/5

Y1 - 2019/5

N2 - Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.

AB - Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.

UR - http://www.scopus.com/inward/record.url?scp=85071438420&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85071438420&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2019.8793966

DO - 10.1109/ICRA.2019.8793966

M3 - Conference contribution

AN - SCOPUS:85071438420

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 9007

EP - 9013

BT - 2019 International Conference on Robotics and Automation, ICRA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Shome R, Tang WN, Song C, Mitash C, Kourtev H, Yu J et al. Towards robust product packing with a minimalistic end-effector. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 9007-9013. 8793966. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8793966