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

该项目旨在开发计划和控制算法，以及机器人系统，以执行从杂乱的多对象垃圾箱中挑选物品的操作。虽然基于物理的计划和控制已被应用于更简单的领域，即操纵平面上的物体，例如货架或桌子，但还没有研究垂直伸进箱子和垃圾箱中的问题，例如在仓库环境中。该项目将研究轨迹优化以及基于抽样的规划和控制这一领域的方法。将评估在计算效率和对不确定性的稳健性方面的主要挑战。开发的算法将与许多工业应用相关，特别是仓库订单递送挑选和包装。

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.