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In this research, we tackle the problem of picking an object from randomly stacked pile. Since complex physical phenomena of contact among objects and fingers makes it difficult to perform the bin-picking with high success rate, we consider introducing a learning based approach. For the purpose of collecting enough number of training data within a reasonable period of time, we introduce a physics simulator where approximation is used for collision checking. In this paper, we first formulate the learning based robotic bin-picking by using CNN (Convolutional Neural Network). We also obtain the optimum grasping posture of parallel jaw gripper by using CNN. Finally, we show that the effect of approximation introduced in collision checking is relaxed if we use exact 3D model to generate the depth image of the pile as an input to CNN.
This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of the pile
This paper proposes a iterative visual recognition system for learning based randomized bin-picking. Since the configuration on randomly stacked objects while executing the current picking trial is just partially different from the configuration whil
This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring object, the targ
Customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized grippers is challenging due to the object variations, surface contacts an
The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream. Along this line, a large scale of grasping data either collected from simulation or from real world examples become ex