Related papers: Pack it in: Packing into Partially Filled Containe…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
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…
Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
The article proposes a heuristic approximation approach to the bin packing problem under multiple objectives. In addition to the traditional objective of minimizing the number of bins, the heterogeneousness of the elements in each bin is…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…
Robotic bin packing aids in a wide range of real-world scenarios such as e-commerce and warehouses. Yet, existing works focus mainly on considering the shape of objects to optimize packing compactness and neglect object properties such as…
Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
For various automated palletizing tasks, the detection of packaging units is a crucial step preceding the actual handling of the packaging units by an industrial robot. We propose an approach to this challenging problem that is fully…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
The paper described a generalized integrated glance to bin packing problems including a brief literature survey and some new problem formulations for the cases of multiset estimates of items. A new systemic viewpoint to bin packing problems…
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
Bin packing is an algorithmic problem that arises in diverse applications such as remnant inventory systems, shipping logistics, and appointment scheduling. In its simplest variant, a sequence of $T$ items (e.g., orders for raw material,…
In this paper we describe a method for packing tubes and boxes in containers. Each container is divided into parts (holders) which are allocated to subsets of objects. The method consists of a recursive procedure which, based on a…