Industrial Grasping - FH OOE
Transcript of 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
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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
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
Industrial Grasping
Setup - Baxter3
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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Setup - Scene4
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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Challenges5
▪ Online grasp planning for objects
▪ Modular design to keep portability
▪ Real hardware: cope with failures
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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3-TIER Architecture6
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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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.
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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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!
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
Industrial Grasping
Executive Layer9
▪ Monitors execution of single skills
▪ Knows about decomposition of skills into skill primitives
▪ Skill primitives important for robust execution (information about success)
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
Industrial Grasping
Behavioural Control Layer10
▪ Skill Primitives:▪ Grasping, perception, manipulation or any combination
▪ Local Recoveries
Platform dependent!
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
Industrial Grasping
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
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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Detect Box12
1)Box model
2)Output coarse alignment
3)Output fine alignment
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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Move Over Box14
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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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.
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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Move Over Box16
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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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
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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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
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
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20
%
skill primitives
Julia Nitsch - OAGM & ARW 2016Wels, 12.05.2016
Industrial Grasping
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.