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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Videos: youtu.be/yt6Ct6JeoBs (experiments), doi.org/10.5281/zenodo.7925474 (presentation).
References
Pintus, R., Pal, K., Yang, Y., Weyrich, T., Gobbetti, E., Rushmeier, H.: A survey of geometric analysis in cultural heritage: geometric analysis in cultural heritage. Comput. Graph. Forum 35(1), 4–31 (2016)
Kleeberger, K., Bormann, R., Kraus, W., Huber, M.F.: A survey on learning-based robotic grasping. Current Rob. Rep. 1(4), 239–249 (2020)
Furrer, F., Wermelinger, M., Yoshida, H., Gramazio, F., Kohler, M., Siegwart, R., Hutter, M.: Autonomous robotic stone stacking with online next best object target pose planning. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA). pp. 2350–2356 (2017)
von Drigalski, F., Kasaura, K., Beltran-Hernandez, C.C., Hamaya, M., Tanaka, K., Matsubara, T.: Uncertainty-Aware manipulation planning using gravity and environment geometry. IEEE Rob. Autom. Lett. (RA-L) 7(4), 11942–11949 (2022)
Fu, B., Leong, S.K., Lian, X., Ji, X.: 6D Robotic assembly based on RGB-only object pose estimation. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2022)
Nägele, L., Hoffmann, A., Schierl, A., Reif, W.: LegoBot: Automated Planning for Coordinated Multi-Robot Assembly of LEGO structures. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 9088–9095 (2020)
Wei, H., Chen, X.X., Miao, X.Y.: Vision-guided fine-operation of robot and its application in eight-puzzle game. Int. J. Intell. Rob. Appl. (2021)
Rodriguez, I., Nottensteiner, K., Leidner, D., Kassecker, M., Stulp, F., Albu-Schaffer, A.: Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. IEEE Rob. Autom. Lett. (RA-L) 4(2), 1416–1423 (2019)
Berscheid, L., Friedrich, C., Kroger, T.: Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives. In: Proceedings of the IEEE International Conference on Robotics & Automation (ICRA). pp. 4474–4480 (2021)
Labbé, Y., Carpentier, J., Aubry, M., Sivic, J.: CosyPose: Consistent Multi-view Multi-object 6D Pose Estimation. In: Proceedings of the European Conference on Computer Vision (ECCV). vol. 12362, pp. 574–591 (2020)
Wang, G., Manhardt, F., Tombari, F., Ji, X.: GDR-Net: geometry-guided direct regression network for monocular 6D object pose estimation. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR). pp. 16606–16616 (2021)
Xiang, Y., Schmidt, T., Narayanan, V., Fox, D.: PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes. In: Proceedings of Robotics: Science and Systems (RSS) (2018)
Berscheid, L., Meißner, P., Kröger, T.: Self-Supervised learning for precise pick-and-place without object model. IEEE Trans. Rob. (T-RO) 5(3), 4828–4835 (2020)
Zhao, J.A., Liang, J., Kroemer, O.: Toward precise robotic grasping by probabilistic post-grasp displacement estimation. In: Field and Service Robotics. pp. 131–144. Springer Proc. in Advanced Robotics (2021)
Wei, H., Pan, S., Ma, G., Duan, X.: Vision-Guided hand–eye coordination for robotic grasping and its application in tangram puzzles. AI 2(2), 209–228 (2021)
Mason, M.T.: Mechanics and Planning of Manipulator Pushing Operations. Int. J. Robotics Res. 5(3), 53–71 (1986)
Macenski, S., Foote, T., Gerkey, B., Lalancette, C., Woodall, W.: Robot Operating System 2: Design, architecture, and uses in the wild. Sci. Rob. 7(66) (2022)
Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 3, pp. 2149–2154 (2004)
Coleman, D., Sucan, I., Chitta, S., Correll, N.: Reducing the barrier to entry of complex robotic software: a move It! case study. J. Softw. Eng. Rob. 5(1), 3–16 (2014)
Suzuki, S., Abe, K.: Topological structural analysis of digitized binary images by border following. Comput. Vis. Graph. Image Process. 30(1), 32–46 (1985)
Douglas, D.H., Peucker, T.K.: Algorithms for the reduction of the number of points required to represent a digitized line or its caricature. Cartographica: Int. J. Geogr. Inf. Geovisualization 10(2), 112–122 (1973)
Moré, J.J.: The Levenberg-Marquardt algorithm: Implementation and theory, vol. 630. Lecture Notes in Mathematics, Berlin Springer, 105–116 (1978)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-031-44981-9_23
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-44980-2
Online ISBN: 978-3-031-44981-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)