A skill-based system for object perception and manipulation for automating kitting tasks
Holz, D. ; Topalidou-Kyniazopoulou, A. ; Rovida, Francesco ; Pedersen, Mikkel Rath ; Krüger, Volker LU
and Behnke, S.
(2015)
IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) 2015
p.1-9
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/78ef29da-308d-4c29-92d8-c07634496e29
- author
- Holz, D.
; Topalidou-Kyniazopoulou, A.
; Rovida, Francesco
; Pedersen, Mikkel Rath
; Krüger, Volker
LU
and Behnke, S.
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- object detection, grasping, motion planning, pre-computed trajectories, skill framework
- host publication
- IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015
- pages
- 9 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) 2015
- conference location
- Luxembourg, Luxembourg
- conference dates
- 2015-05-08 - 2015-09-11
- external identifiers
-
- scopus:84952948324
- ISBN
- 978-1-4673-7929-8
- DOI
- 10.1109/ETFA.2015.7301453
- language
- English
- LU publication?
- no
- id
- 78ef29da-308d-4c29-92d8-c07634496e29
- date added to LUP
- 2019-05-16 21:27:53
- date last changed
- 2022-04-26 00:00:02
@inproceedings{78ef29da-308d-4c29-92d8-c07634496e29,
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.}},
author = {{Holz, D. and Topalidou-Kyniazopoulou, A. and Rovida, Francesco and Pedersen, Mikkel Rath and Krüger, Volker and Behnke, S.}},
booktitle = {{IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015}},
isbn = {{978-1-4673-7929-8}},
keywords = {{object detection; grasping; motion planning; pre-computed trajectories; skill framework}},
language = {{eng}},
pages = {{1--9}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{A skill-based system for object perception and manipulation for automating kitting tasks}},
url = {{http://dx.doi.org/10.1109/ETFA.2015.7301453}},
doi = {{10.1109/ETFA.2015.7301453}},
year = {{2015}},
}