Engineering evaluation demonstrates autonomous grasp planning and object manipulation in unstructured clutter, highlighting adaptable vision-guided robotic workflows.
We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed objects in the environment. In addition, the system builds a depth map, using structured light, of the area where the part is to be found initially. Any other objects present in that area do not have to be modeled.
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Lozano‐Pérez et al. (2005) studied this question.
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