{"id":3186,"date":"2022-07-13T09:30:00","date_gmt":"2022-07-13T07:30:00","guid":{"rendered":"https:\/\/cirpicme.org\/?page_id=3186"},"modified":"2022-07-26T13:08:02","modified_gmt":"2022-07-26T11:08:02","slug":"localization-and-grasp-planning-for-bin-picking-of-deformable-linear-objects","status":"publish","type":"page","link":"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration-2\/localization-and-grasp-planning-for-bin-picking-of-deformable-linear-objects\/","title":{"rendered":"Localization and Grasp Planning for Bin Picking of Deformable Linear Objects"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><em>by Jonas Dirr, Daniel Gebauer, Ruediger Daub (Germany)<\/em><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Abstract<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a concept for localization and grasp planning for bin picking of deformable linear objects (DLOs). First, a method for localization and reconstruction of unordered DLOs is introduced. Then an approach for part selection and uncertainty evaluation is described. The proposed concept promises to identify grasp regions for picking selected DLOs.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Keywords<\/strong>: Bin picking; Deformable linear objects; Robotic vision; Robotic grasping; Cable assembly<\/p>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Video presentation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"720\" style=\"aspect-ratio: 1280 \/ 720;\" width=\"1280\" controls src=\"https:\/\/cirpicme.org\/wp-content\/uploads\/2022\/06\/Jonas_Dirr.mp4\"><\/video><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Presenting author<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-background\" style=\"background-color:#f3f4f5\"><tbody><tr><td><\/td><td><\/td><td><\/td><\/tr><tr><td><img data-recalc-dims=\"1\" loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"225\" class=\"wp-image-3496\" style=\"width: 150px;\" src=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Dirr-Jonas_1.jpg?resize=150%2C225&#038;ssl=1\" alt=\"\" srcset=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Dirr-Jonas_1.jpg?w=418&amp;ssl=1 418w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Dirr-Jonas_1.jpg?resize=200%2C300&amp;ssl=1 200w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2022\/07\/Dirr-Jonas_1.jpg?resize=100%2C150&amp;ssl=1 100w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/td><td><strong>Name:<\/strong><br><br><strong>Affiliation:<\/strong><br><br><strong>Email:<\/strong><\/td><td>Jonas Dirr<br><br>Technical University of Munich, Germany<br><br>Jonas.Dirr@iwb.tum.de<\/td><\/tr><tr><td><\/td><td><\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>by Jonas Dirr, Daniel Gebauer, Ruediger Daub (Germany) Abstract Industrial part supply often uses universal load carriers. Bin picking offers a variant-flexible option for separating the unordered parts in universal load carriers. While numerous approaches exist for bin picking of rigid objects, deformable objects pose challenges. This paper presents a&#8230;<\/p>\n<p> <a class=\"continue-reading-link\" href=\"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration-2\/localization-and-grasp-planning-for-bin-picking-of-deformable-linear-objects\/\"><span>Continue reading<\/span><i class=\"crycon-right-dir\"><\/i><\/a> <\/p>\n","protected":false},"author":4,"featured_media":0,"parent":3587,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"nf_dc_page":"","om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-3186","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3186","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/comments?post=3186"}],"version-history":[{"count":2,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3186\/revisions"}],"predecessor-version":[{"id":3790,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3186\/revisions\/3790"}],"up":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/3587"}],"wp:attachment":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/media?parent=3186"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}