Bin-picking for objects have high possibility of entanglement and constructed of different materials

Abstract

When we pick up one object in bulk, there is a possibility that tangles occur due to the shape of the object. In this research, we propose a method to select an object that has no or few possibilities of tangle and grasp it. We consider the case of multiple objects composed of a single material. In this study, we segment the hyperspectral images, convert them into fine lines and point clouds, and interpolate the 3D information. Based on these information, the GLI is used to quantitatively understand the entanglement of each object and the grasp position is determined using the Graspability. By applying this method, we confirmed that the robot can grasp one object in bulk which is difficult to be recognized by the conventional camera without tangling.