Robust bin-picking system using tactile sensor. (17th April 2020)

• Record Type: Journal Article
• Authors: Tajima, Sho; Wakamatsu, Seiji; Abe, Taiki; Tennomi, Masanari; Morita, Koki; Ubata, Hirotoshi; Okamura, Atsushi; Hirai, Yuji; Morino, Kota; Suzuki, Yosuke; Tsuji, Tokuo; Yamazaki, Kimitoshi; Watanabe, Tetsuyou
• Is Part Of: Advanced robotics. Volume 34:Number 7/8(2020)
• Page Start: 439
• Page End: 453
• Publication Date: 2020-04-17
• Subjects: Kitting -- bin-picking -- tactile sensor -- planning -- world robot summit; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1702897
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to judge whether the lifting of the object has been successful. The robust and efficient bin-picking system presented herein is implemented through the integration of different sensors. In particular, the tactile sensors realize rope-shaped object picking that has yet to be made possible with conventional picking systems. The effectiveness of the proposed method was confirmed through grasping experiments and in a competitive event at the World Robot Challenge 2018. GRAPHICAL ABSTRACT: