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KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics

  • Dmytro PavlichenkoEmail author
  • Germán Martín García
  • Seongyong Koo
  • Sven Behnke
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

Individualized manufacturing of cars requires kitting: the collection of individual sets of part variants for each car. This challenging logistic task is frequently performed manually by warehouseman. We propose a mobile manipulation robotic system for autonomous kitting, building on the Kuka Miiwa platform which consists of an omnidirectional base, a 7 DoF collaborative iiwa manipulator, cameras, and distance sensors. Software modules for detection and pose estimation of transport boxes, part segmentation in these containers, recognition of part variants, grasp generation, and arm trajectory optimization have been developed and integrated. Our system is designed for collaborative kitting, i.e. some parts are collected by warehouseman while other parts are picked by the robot. To address safe human-robot collaboration, fast arm trajectory replanning considering previously unforeseen obstacles is realized. The developed system was evaluated in the European Robotics Challenge 2, where the Miiwa robot demonstrated autonomous kitting, part variant recognition, and avoidance of unforeseen obstacles.

Notes

Acknowledgements

This research received funding from the European Union’s Seventh Framework Programme grant agreement no. 608849 (EuRoC). It was performed in collaboration with our end-user partner Peugeot Citroën Automobiles S.A. (PSA). We also gratefully acknowledge the support of the EuRoC Challenge 2 host: DLR Institute of Robotics and Mechatronics in Oberpfaffenhofen, Germany.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Dmytro Pavlichenko
    • 1
    Email author
  • Germán Martín García
    • 1
  • Seongyong Koo
    • 1
  • Sven Behnke
    • 1
  1. 1.Autonomous Intelligent SystemsComputer Science Institute VI, University of BonnBonnGermany

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