In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from the shelf. In previous works, a robot needed to extract the target object after rearranging the neighboring objects. In contrast, humans extract an object from a shelf while supporting other neighboring objects. In this paper, we propose a bimanual manipulation planner based on collapse prediction trained with data generated from a physics simulator, which can safely extract a single object while supporting the other object. We confirmed that the proposed method achieves more than 80% success rate for safe extraction by real-world experiments using a dual-arm manipulator.
@article{arxiv.2105.14764,
title = {Bimanual Shelf Picking Planner Based on Collapse Prediction},
author = {T. Motoda and D. Petit and W. Wan and K. Harada},
journal= {arXiv preprint arXiv:2105.14764},
year = {2021}
}