Related papers: Robotic Waste Sorter with Agile Manipulation and Q…
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the…
In industrial quality control, to visually recognize unwanted items within a moving heterogeneous stream, human operators are often still indispensable. Waste-sorting stands as a significant example, where operators on multiple conveyor…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Robots 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…
Traditional aggregate sorting methods, whether manual or mechanical, often suffer from low precision, limited flexibility, and poor adaptability to diverse material properties such as size, shape, and lithology. To address these…
Machine learning offers remarkable benefits for improving workplaces and working conditions amongst others in the recycling industry. Here e.g. hand-sorting of medium value scrap is labor intensive and requires experienced and skilled…
We describe a system for deep reinforcement learning of robotic manipulation skills applied to a large-scale real-world task: sorting recyclables and trash in office buildings. Real-world deployment of deep RL policies requires not only…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
This study intends to build a smartbin that segregates solid waste into its respective bins. To make the waste management process more interesting for the end-users; to notify the utility staff when the smart bin needs to be unloaded; to…
Waste pollution is one of the most significant environmental issues in the modern world. The importance of recycling is well known, either for economic or ecological reasons, and the industry demands high efficiency. Our team conducted…
Advances in machine learning have produced systems that attain human-level performance on certain visual tasks, e.g., object identification. Nonetheless, other tasks requiring visual expertise are unlikely to be entrusted to machines for…
The problem of segregating recyclable waste is fairly daunting for many countries. This article presents an approach for image based classification of plastic waste using one-shot learning techniques. The proposed approach exploits…
Computer vision methods have shown to be effective in classifying garbage into recycling categories for waste processing, existing methods are costly, imprecise, and unclear. To tackle this issue, we introduce MWaste, a mobile application…
Traditional electronic recycling processes suffer from significant resource loss due to inadequate material separation and identification capabilities, limiting material recovery. We present A.R.I.S. (Automated Recycling Identification…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Vision algorithm-based robotic arm grasping system is one of the robotic arm systems that can be applied to a wide range of scenarios. It uses algorithms to automatically identify the location of the target and guide the robotic arm to…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
According to the EPA, only 25% of waste is recycled, and just 60% of U.S. municipalities offer curbside recycling. Plastics fare worse, with a recycling rate of only 8%; an additional 16% is incinerated, while the remaining 76% ends up in…
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and planar…