SECURE PICKING OF DISARRANGED OBJECTS USING PROBABILISTIC REASONING

摘要

The secure picking of unknown rigid objects from an unstructured heap without damaging the objects is a significant task in industrial as well as in service robotics. For the seek of flexibility, we dispense with object identification and model based planning. Instead, we approach the task by avoiding the inadvertent lifting of not grasped objects during a picking action through the execution of systematic checking and observation operations. This paper first presents our mathematical framework used for the scene description and the execution planning. On that base, we display the essential probabilistic reasoning results for reliable and effective task accomplishment.