Physics-based manipulation planning and control for bin-picking applications

用于垃圾箱拣选应用的基于物理的操纵规划和控制

• 批准号: 2596473
• 金额: --
• 依托单位: University of Leeds
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2021
• 资助国家: 英国
• 起止时间: 2021 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2596473
• 关键词: Physics; based; manipulation; planning; control

This project aims to develop planning and control algorithms, as well as robotic systems, to perform picking operations of items out of cluttered multi-object bins. While physics-based planning and control have been applied to the simpler domain of manipulation of objects on a flat surface such as a shelf or a table, the problem of reaching vertically into boxes and bins, e.g. in a warehouse setting, has not been investigated yet. This project will investigate trajectory optimisation, as well as sampling-based, approaches to planning and control in this domain. The main challenges of computationally efficiency and robustness to uncertainty will be evaluated. Developed algorithms will be relevant to many industrial applications, particularly warehouse order delivery picking and packing.

该项目旨在开发规划和控制算法，以及机器人系统，以执行从杂乱的多对象箱中挑选物品的操作。虽然基于物理的规划和控制已经应用于在诸如货架或桌子的平坦表面上操纵物体的更简单的领域，但是例如在仓库设置中垂直地到达盒子和箱子中的问题还没有被研究。该项目将研究轨迹优化，以及基于采样的方法，在这一领域的规划和控制。将评估计算效率和对不确定性的鲁棒性的主要挑战。开发的算法将与许多工业应用相关，特别是仓库订单交付拣选和包装。