Moroni, Michele und Huezo Martin, Ana Elvira und Klüpfel, Leonard und Meenakshi Sundaram, Ashok und Friedl, Werner und Braghin, Francesco und Roa Garzon, Máximo Alejandro (2024) Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness. In: 25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024. Springer Nature. 25th TAROS Conference 2024 (Towards Autonomous Robotic Systems), 2024-08-21 - 2024-08-23, London, United Kingdom. (im Druck)
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Kurzfassung
The involvement of robots in warehouse automation poses new problems to research in logistic tasks such as tight packaging, in which a container must be completely filled with items, in a regular and ordered manner, leaving minimum clearance between them. This work investigates the effect of a reliable placing strategy using a system with passive compliance to improve robustness and success rate in such a task. The methodology is integrated into a full pipeline to execute the packaging operation and is evaluated in a real robot, using a mechanically compliant hybrid gripper with variable stiffness, exploring the roles of the hand configuration and stiffness level in the task execution. Along different evaluation tasks, the results show an improvement in success rate thanks to a reliable insertion strategy, when compared to a trivial one. They also demonstrate the efficacy of using variable stiffness to reduce error propagation.
elib-URL des Eintrags: | https://elib.dlr.de/205790/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||||||||||||||
Titel: | Robotic Tight Packaging using a Hybrid gripper with Variable Stiffness | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2024 | ||||||||||||||||||||||||||||||||
Erschienen in: | 25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024 | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | Springer Nature | ||||||||||||||||||||||||||||||||
Name der Reihe: | Lecture Notes in Computer Science | ||||||||||||||||||||||||||||||||
Status: | im Druck | ||||||||||||||||||||||||||||||||
Stichwörter: | Robotic Packaging, Variable Stiffness, Hybrid Gripper | ||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 25th TAROS Conference 2024 (Towards Autonomous Robotic Systems) | ||||||||||||||||||||||||||||||||
Veranstaltungsort: | London, United Kingdom | ||||||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 21 August 2024 | ||||||||||||||||||||||||||||||||
Veranstaltungsende: | 23 August 2024 | ||||||||||||||||||||||||||||||||
Veranstalter : | Brunel University London | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonomie & Geschicklichkeit [RO], R - Leichtbau-Robotik [RO], R - Mehrfingrige Roboterhände [RO] | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Huezo Martin, Ana Elvira | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 12 Aug 2024 15:32 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 12 Aug 2024 15:32 |
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