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Conference Paper: DoraPicker: an autonomous picking system for general objects

TitleDoraPicker: an autonomous picking system for general objects
Authors
Issue Date2016
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1001095
Citation
The 12th Annual IEEE International Conference on Automation Science and Engineering (IEEE-CASE 2016), Fort Worth, TX., 21-24 August 2016, p. 1-10 How to Cite?
AbstractRobots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both picking and placing general objects in warehouse scenarios. Given a target object, the robot autonomously detects it from a shelf or a table and estimates its full 6D pose. With this pose information, the robot picks the object using its gripper, and then places it into a container or at a specified location. We describe our pick-and-place system in detail while highlighting our design principles for the warehouse settings, including the perception method that leverages knowledge about its workspace, three grippers designed to handle a large variety of different objects in terms of shape, weight and material, and grasp planning in cluttered scenarios. We also present extensive experiments to evaluate the performance of our picking system and demonstrate that the robot is competent to accomplish various tasks in warehouse settings, such as picking a target item from a tight space, grasping different objects from the shelf, and performing pick-and-place tasks on the table.
DescriptionIEEE CASE/ISAM 2016
Persistent Identifierhttp://hdl.handle.net/10722/226478

 

DC FieldValueLanguage
dc.contributor.authorZhang, H-
dc.contributor.authorLong, P-
dc.contributor.authorZhou, D-
dc.contributor.authorQian, Z-
dc.contributor.authorWang, Z-
dc.contributor.authorWan, W-
dc.contributor.authorManocha, D-
dc.contributor.authorPark, C-
dc.contributor.authorHu, T-
dc.contributor.authorCao, C-
dc.contributor.authorChen, Y-
dc.contributor.authorChow, M-
dc.contributor.authorPan, J-
dc.date.accessioned2016-06-17T07:44:24Z-
dc.date.available2016-06-17T07:44:24Z-
dc.date.issued2016-
dc.identifier.citationThe 12th Annual IEEE International Conference on Automation Science and Engineering (IEEE-CASE 2016), Fort Worth, TX., 21-24 August 2016, p. 1-10-
dc.identifier.urihttp://hdl.handle.net/10722/226478-
dc.descriptionIEEE CASE/ISAM 2016-
dc.description.abstractRobots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both picking and placing general objects in warehouse scenarios. Given a target object, the robot autonomously detects it from a shelf or a table and estimates its full 6D pose. With this pose information, the robot picks the object using its gripper, and then places it into a container or at a specified location. We describe our pick-and-place system in detail while highlighting our design principles for the warehouse settings, including the perception method that leverages knowledge about its workspace, three grippers designed to handle a large variety of different objects in terms of shape, weight and material, and grasp planning in cluttered scenarios. We also present extensive experiments to evaluate the performance of our picking system and demonstrate that the robot is competent to accomplish various tasks in warehouse settings, such as picking a target item from a tight space, grasping different objects from the shelf, and performing pick-and-place tasks on the table.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1001095-
dc.relation.ispartofIEEE International Conference on Automation Science and Engineering Proceedings-
dc.rightsIEEE International Conference on Automation Science and Engineering Proceedings. Copyright © IEEE.-
dc.rights©2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.titleDoraPicker: an autonomous picking system for general objects-
dc.typeConference_Paper-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturepostprint-
dc.identifier.hkuros258732-
dc.identifier.spage1-
dc.identifier.epage10-
dc.publisher.placeUnited States-
dc.description.otherThe 12th Annual IEEE International Conference on Automation Science and Engineering (IEEE-CASE 2016), Fort Worth, TX., 21-24 August 2016, p. 1-10-

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