NDLI: A skill-based system for object perception and manipulation for automating kitting tasks

Content Provider	IEEE Xplore Digital Library
Author	Holz, D. Topalidou-Kyniazopoulou, A. Rovida, F. Pedersen, M.R. Kruger, V. Behnke, S.
Copyright Year	2015
Description	Author affiliation: Robot., Vision & Machine Intell. Lab., Aalborg Univ., Copenhagen, Denmark (Rovida, F.; Pedersen, M.R.; Kruger, V.) \|\| Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany (Holz, D.; Topalidou-Kyniazopoulou, A.; Behnke, S.)
Abstract	The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.
Starting Page	1
Ending Page	9
File Size	5653390
Page Count	9
File Format	PDF
e-ISBN	9781467379298
DOI	10.1109/ETFA.2015.7301453
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-08
Publisher Place	Luxembourg
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Planning Software Service robots Mobile communication Three-dimensional displays skill framework Object detection grasping motion planning pre-computed trajectories
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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