industrial grasping - fh ooe

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Industrial GraspingAn autonomous order picking systemJulia Nitsch¹,² and Gerald Steinbauer¹

1 Graz, University of Technology2 Ibeo Automotive Systems

1

Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016

Industrial Grasping

Related Research2

▪ K. Okada et al. Task compiler: Transferring high-level task description to behavior state machine with failure recovery mechanism. ICRA 2013

▪ A.T. Miller and P.K. Allen. Graspit! a versatile simulator for robotic grasping. IEEE Robotics & Automation Magazine 2004

▪ Matthias Nieuwenhuisen et al. Mobile bin picking with an anthropomorphic service robot. ICRA 2013


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Setup - Baxter3


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Setup - Scene4


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Challenges5

▪ Online grasp planning for objects

▪ Modular design to keep portability

▪ Real hardware: cope with failures


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3-TIER Architecture6


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Planning Layer7

▪ Planner[1] uses problem and domain description▪ Problem Domain Definition Language (PDDL)[2] models:

▪ System capabilities (= skills)▪ Initial state▪ Desired goal state

▪ Skill:▪ Defined through name and parameters▪ Precondition ▪ Effect

▪ Output of planning layer: list of skills to be executed

[1] Chih-Wei Hsu et al. Handling soft constraints and goals preferences in SGPlan. ICAPS 2006[2] D. Mcdermott et al. Pddl - the planning domain definition language. Technical Report 1998.


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Planning Layer - Skills8

▪ move<Box>From<Level>To<Tray>▪ Precondition:

▪ <Box>On<Level>▪ <Tray> Free

▪ Effect:▪ <Box>On<Tray>▪ <Tray> Not Free▪ <Level> Free

▪ move<Box>From<Tray>To<Level>▪ grasp<Item>

Skills are platform independent!


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Executive Layer9

▪ Monitors execution of single skills

▪ Knows about decomposition of skills into skill primitives

▪ Skill primitives important for robust execution (information about success)


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Behavioural Control Layer10

▪ Skill Primitives:▪ Grasping, perception, manipulation or any combination

▪ Local Recoveries

Platform dependent!


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Detect Box11

▪ Coarse to fine approach utilizing PCL [3]:▪ Preprocessing:

▪ Cut out large planes▪ Euclidean clustering

▪ Coarse Alignment:▪ Fast Point Feature Histogram (FPFH)▪ Sample consensus initial alignment (SAC-IA)

▪ Fine Alignment:▪ Iterative Closest Point (ICP) algorithm

▪ Multiple Trials▪ Check if pose is reasonable▪ Return Pose of best score from ICP

[3] R.B. Rusu and S. Cousins. 3D is here: Point Cloud Library (PCL). ICRA 2011


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Detect Box12

1)Box model

2)Output coarse alignment

3)Output fine alignment


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13


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Move Over Box14


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Move Over Box - MoveIt![4]15

▪ Open Source framework ▪ Collision scene▪ Interface to OMPL[5]

▪ Sample Based Planning Algorithm: LBKPIECE▪ Sends trajectory to Baxter

▪ Joint Trajectory Action Server (JTAS) executes & monitors trajectory

[4] Sachin Chitta et al. Moveit!. IEEE Robotics & Automation Magazine 2012.[5] Ioan Sucan et al. The open motion planning library. IEEE Robotics & Automation Magazine 2012.


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Move Over Box16


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Grasp Item17


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Calculate Grasping Points18

▪ GraspIt! extended ▪ Load sensed environment▪ Eigengrasp[6] planner:

▪ Contact points▪ Minimize cost function▪ Simulated annealing

▪ Collision aware, online grasp planning

[6] Matei Ciocarlie et al. Dexterous grasping via eigengrasps: A low-dimensional approach to a high-complexity problem. In Robotics: Science and Systems Manipulation Workshop-Sensing and Adapting to the Real World, 2007


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Evaluation19

▪ Evaluation of skill primitives:▪ Robustness of whole system

▪ Each primitive tested manually:▪ 50 to 60 tests▪ environment reset before each test ▪ user counted how often primitive:

▪ succeeded▪ detected the failure▪ failed


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20

%

skill primitives


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Conclusion21

▪ Modular, portable 3-TIER architecture▪ Task planner utilizing PDDL▪ System has skills composed of skill primitives:

▪ Manipulation▪ Perception▪ Grasping

▪ Prototype implementation using open source libraries▪ Architecture allows robust execution in real world


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Future Work22

▪ Robust motion execution

▪ Faster box detection

▪ Smoother two arm manipulation

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Thank you!12.05.2016Julia Nitsch

23This work was supported by incubed IT GmbH.

industrial grasping - fh ooe

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