Robust bin-picking system using tactile sensor |
| |
Authors: | Sho Tajima Seiji Wakamatsu Taiki Abe Masanari Tennomi Koki Morita Hirotoshi Ubata |
| |
Affiliation: | 1. Graduate school of Natural science and Technology, Kanazawa University, Kanazawa, Japan;2. Graduate School of Science and Technology, Shinshu University, Nagano, Japan |
| |
Abstract: | ABSTRACTThis 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. |
| |
Keywords: | Kitting bin-picking tactile sensor planning world robot summit |
|
|