loading
Papers

Research.Publish.Connect.

Paper

Authors: Marco Costanzo ; Giuseppe De Maria ; Gaetano Lettera ; Ciro Natale and Salvatore Pirozzi

Affiliation: Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Via Roma 29, Aversa and Italy

ISBN: 978-989-758-321-6

Keyword(s): Reactive Robot Control, Robot Motion Planning, Object Recognition, Obstacle Avoidance.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: The work implements a new real-time flexible motion planning method used for reactive object manipulation in pick and place tasks typical of in-store logistics scenarios such as shelf replenishment of retail stores. This method uses a new hybrid pipeline to recognize and localize an object observed through a depth camera, by integrating and optimizing state of the art techniques. The proposed algorithm guarantees recognition robustness and localization accuracy. The desired object is then manipulated. The motion planner, based on the obstacles detected in the scene, plans a collision-free path towards the target pose. The planned trajectory optimizes a cost function that reflects the best solution among those available and produces natural and smooth path through a smart IK constrained solution which avoids robot unnecessary reconfigurations. A reactive control based on distributed proximity sensors is finally adopted to locally modify the planned trajectory in real time to avoid coll isions with uncertain or dynamic obstacles. Experimental results in a supermarket scenario populated with cluttered obstacles demonstrate smoothness of the robot motions and reactive capabilities in a typical fetch and carry task. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 100.24.122.228

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Costanzo, M.; De Maria, G.; Lettera, G.; Natale, C. and Pirozzi, S. (2018). Flexible Motion Planning for Object Manipulation in Cluttered Scenes.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 110-121. DOI: 10.5220/0006848701200131

@conference{icinco18,
author={Marco Costanzo. and Giuseppe De Maria. and Gaetano Lettera. and Ciro Natale. and Salvatore Pirozzi.},
title={Flexible Motion Planning for Object Manipulation in Cluttered Scenes},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={110-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006848701200131},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Flexible Motion Planning for Object Manipulation in Cluttered Scenes
SN - 978-989-758-321-6
AU - Costanzo, M.
AU - De Maria, G.
AU - Lettera, G.
AU - Natale, C.
AU - Pirozzi, S.
PY - 2018
SP - 110
EP - 121
DO - 10.5220/0006848701200131

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.