Title :
Using manipulation primitives for brick sorting in clutter
Author :
Gupta, Megha ; Sukhatme, Gaurav S.
Author_Institution :
Comput. Sci. Dept., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
This paper explores the idea of manipulation-aided perception and grasping in the context of sorting small objects on a tabletop. We present a robust pipeline that combines perception and manipulation to accurately sort Duplo bricks by color and size. The pipeline uses two simple motion primitives to manipulate the scene in ways that help the robot to improve its perception. This results in the ability to sort cluttered piles of Duplo bricks accurately. We present experimental results on the PR2 robot comparing brick sorting without the aid of manipulation to sorting with manipulation primitives that show the benefits of the latter, particularly as the degree of clutter in the environment increases.
Keywords :
brick; manipulators; motion control; robust control; sorting; visual perception; Duplo brick sorting; PR2 robot; cluttered piles; color; grasping; manipulation primitives; manipulation-aided perception; motion primitives; robust pipeline; size; small object sorting; tabletop; Clutter; Color; Grasping; Pipelines; Robot sensing systems; Sorting;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224787