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Reactive Correction of Object Placement Errors for Robotic Arrangement Tasks

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Intelligent Autonomous Systems 18 (IAS 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 794))

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Abstract

When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps of the manipulation process. Ignoring such errors can lead to the partial or complete failure of the arrangement. In this paper, we present a novel approach to autonomously detect and correct misplaced objects by pushing them with a robotic arm. We thoroughly tested our approach both in simulation and on real hardware using a Robotiq two-finger gripper mounted on a UR5 robotic arm. In our evaluation, we demonstrate the successful compensation for different errors injected during the manipulation of regular shaped objects. Consequently, we achieve a highly reliable object placement accuracy in the millimeter range.

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Notes

  1. 1.

    Videos: youtu.be/yt6Ct6JeoBs (experiments), doi.org/10.5281/zenodo.7925474 (presentation).

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Acknowledgements

We thank Patrick Reitz for helping with the experiments and Camila Maslatón for supporting with Figs. 1 and 2. This work has partly been supported by the RePAIR project of the European Union’s HORIZON 2020 research and innovation program under grant agreement n\(^\circ \)964854.

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Authors and Affiliations

  1. Humanoid Robots Lab, University of Bonn, 53115, Bonn, Germany

    Benedikt Kreis, Rohit Menon, Bharath Kumar Adinarayan, Jorge de Heuvel & Maren Bennewitz

Authors
  1. Benedikt Kreis
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  2. Rohit Menon
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  3. Bharath Kumar Adinarayan
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  4. Jorge de Heuvel
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  5. Maren Bennewitz
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Corresponding author

Correspondence to Benedikt Kreis .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Kyung Hee University, Yongin-si, Korea (Republic of)

    Soon-Geul Lee

  2. Department of Interdisciplinary Engineering, Daegu Gyeongbuk Institute of Science and DGIST R4-708, Daegu, Korea (Republic of)

    Jinung An

  3. School of Information Science, Japan Advanced Institute of Science and And Technology JAIST, Ishikawa, Japan

    Nak Young Chong

  4. DHBW Karlsruhe, Cooperative State University Baden-Wuerttemberg Karlsruhe, Karlsruhe, Germany

    Marcus Strand

  5. Department of Mechanical and Aerospace Engineering, New York University, New York, NY, USA

    Joo H. Kim

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Kreis, B., Menon, R., Adinarayan, B.K., de Heuvel, J., Bennewitz, M. (2024). Reactive Correction of Object Placement Errors for Robotic Arrangement Tasks. In: Lee, SG., An, J., Chong, N.Y., Strand, M., Kim, J.H. (eds) Intelligent Autonomous Systems 18. IAS 2023. Lecture Notes in Networks and Systems, vol 794. Springer, Cham. https://doi.org/10.1007/978-3-031-44981-9_23

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