Optimum Bin Picking Problem for Flexible Pouched Objects Using Adhesion Robotic Hand

Abstract

This paper proposes an optimum picking position for flexible pouched object using adhesion robotic hand. The bin picking problem for flexible and multiple stacked objects is a challenging one. A combination method of model based estimation of the objects and a stochastic planning based Bayes' estimation is proposed. The method is verified for bin picking of multiple deformable food pouches.