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Beskrivning
This book introduces methods for bin picking in manufacturing. The target objects include both rigid and deformable objects. Robotic bin picking is a valuable task in manufacturing, aiming to automate the assembly process by utilizing robots to pick necessary objects from disorganized bins.
Background, Introduction and Motivation.- Part I Avoiding Picking Potentially Entangled Objects.- Deep Learning for Classifying Potential Entangled Objects.- Entanglement Map: A Visual Representation for Entangled Objects.- Shape Reconstruction of Entangled Objects.- Part II Disentangling Manipulation Planning for Entangled Objects.- Affordance Maps for Picking or Separating Entangled Objects.- Learning Efficient Policies for Entangled Wire Harnesses.- Dynamic and Bimanual Manipulation with F/T Feedback for Entangled Wire Harnesses.- Conclusions.