A skill-based system for object perception and manipulation for automating kitting tasks

D. Holz; A. Topalidou-Kyniazopoulou; Francesco Rovida; Mikkel Rath Pedersen; Volker Krüger; S. Behnke

doi:10.1109/ETFA.2015.7301453

A skill-based system for object perception and manipulation for automating kitting tasks

D. Holz, A. Topalidou-Kyniazopoulou, Francesco Rovida, Mikkel Rath Pedersen, Volker Krüger, S. Behnke

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.

Original language	English
Title of host publication	IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015
Place of Publication	United States
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	1-9
Number of pages	9
ISBN (Electronic)	978-1-4673-7929-8
DOIs	https://doi.org/10.1109/ETFA.2015.7301453
Publication status	Published - 2015
Externally published	Yes
Event	IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) 2015 - Luxembourg, Luxembourg Duration: 2015 May 8 → 2015 Sept 11

Conference

Conference	IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) 2015
Country/Territory	Luxembourg
City	Luxembourg
Period	2015/05/08 → 2015/09/11

Subject classification (UKÄ)

Robotics and automation

Free keywords

object detection
grasping
motion planning
pre-computed trajectories
skill framework

Access to Document

10.1109/ETFA.2015.7301453

Cite this

Holz, D., Topalidou-Kyniazopoulou, A., Rovida, F., Pedersen, M. R., Krüger, V., & Behnke, S. (2015). A skill-based system for object perception and manipulation for automating kitting tasks. In IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015 (pp. 1-9). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.2015.7301453

@inproceedings{78ef29da308d4c2992d8c07634496e29,

title = "A skill-based system for object perception and manipulation for automating kitting tasks",

abstract = "The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citro{\"e}n serving as a proof of concept for the overall system design and implementation.",

keywords = "object detection, grasping, motion planning, pre-computed trajectories, skill framework",

author = "D. Holz and A. Topalidou-Kyniazopoulou and Francesco Rovida and Pedersen, \{Mikkel Rath\} and Volker Kr{\"u}ger and S. Behnke",

year = "2015",

doi = "10.1109/ETFA.2015.7301453",

language = "English",

pages = "1--9",

booktitle = "IEEE 20th Conference on Emerging Technologies \& Factory Automation (ETFA), 2015",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "IEEE 20th Conference on Emerging Technologies \& Factory Automation (ETFA) 2015 ; Conference date: 08-05-2015 Through 11-09-2015",

}

Holz, D, Topalidou-Kyniazopoulou, A, Rovida, F, Pedersen, MR, Krüger, V & Behnke, S 2015, A skill-based system for object perception and manipulation for automating kitting tasks. in IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015. IEEE - Institute of Electrical and Electronics Engineers Inc., United States, pp. 1-9, IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA) 2015 , Luxembourg, Luxembourg, 2015/05/08. https://doi.org/10.1109/ETFA.2015.7301453

A skill-based system for object perception and manipulation for automating kitting tasks. / Holz, D.; Topalidou-Kyniazopoulou, A.; Rovida, Francesco et al.
IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015. United States: IEEE - Institute of Electrical and Electronics Engineers Inc., 2015. p. 1-9.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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AU - Topalidou-Kyniazopoulou, A.

AU - Rovida, Francesco

AU - Pedersen, Mikkel Rath

AU - Krüger, Volker

AU - Behnke, S.

PY - 2015

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N2 - The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.

AB - The automation of kitting tasks-collecting a set of parts for one particular car into a kit-has a huge impact in the automotive industry. It considerably increases the automation levels of tasks typically conducted by human workers. Collecting the parts involves picking up objects from pallets and bins as well as placing them in the respective compartments of the kitting box. In this paper, we present a complete system for automated kitting with a mobile manipulator thereby focusing on depalletizing tasks and placing. In order to allow for low cycle times, we present particularly efficient solutions to object perception as well as motion planning and execution. For easy portability to different platforms, all components are integrated into a skill-based framework that is tightly coupled with a task planning component. We present results of experiments at both a research laboratory environment and at the industrial site of PSA Peugeot Citroën serving as a proof of concept for the overall system design and implementation.

KW - object detection

KW - grasping

KW - motion planning

KW - pre-computed trajectories

KW - skill framework

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DO - 10.1109/ETFA.2015.7301453

M3 - Paper in conference proceeding

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BT - IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

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ER -

Holz D, Topalidou-Kyniazopoulou A, Rovida F, Pedersen MR, Krüger V, Behnke S. A skill-based system for object perception and manipulation for automating kitting tasks. In IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), 2015. United States: IEEE - Institute of Electrical and Electronics Engineers Inc. 2015. p. 1-9 doi: 10.1109/ETFA.2015.7301453

A skill-based system for object perception and manipulation for automating kitting tasks

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