Efficient Pipeline for Mobile Brick Picking

Publication Type:
Conference Proceeding
https://ssl.linklings.net/conferences/acra/acra2019_proceedings/views/by_auth.html, 2019, pp. 1 - 8
Issue Date:
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Autonomous mobile manipulation is gaining more and more attention for a range of application including disaster response, logistics, manufacturing and construction because removes work space limitation and allows object handling. A key challenge in mobile manipulation is the interaction between motion planning and perception that will deliver stable and efficient solutions. In this work, we are interested in the problem of picking a single brick shaped object from an unstructured pile using a mo- bile manipulator and a 3D camera system. We propose a robust multi-stage pipeline for a efficient, collision-free brick picking given the object pose. The key contribution of this work is a scoring function used to find the most suitable configuration considering the integrated kinematic chain of mobile base and manipulator arm. Realistic simulation results show the proposed pipeline has 100% success rate as opposed to a standard off-the-shelf solution, which has high-failure rates.
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