3 research outputs found
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking
A new generation of automated bin picking systems using deep learning is
evolving to support increasing demand for e-commerce. To accommodate a wide
variety of products, many automated systems include multiple gripper types
and/or tool changers. However, for some objects, sequential grasp failures are
common: when a computed grasp fails to lift and remove the object, the bin is
often left unchanged; as the sensor input is consistent, the system retries the
same grasp over and over, resulting in a significant reduction in mean
successful picks per hour (MPPH). Based on an empirical study of sequential
failures, we characterize a class of "sequential failure objects" (SFOs) --
objects prone to sequential failures based on a novel taxonomy. We then propose
three non-Markov picking policies that incorporate memory of past failures to
modify subsequent actions. Simulation experiments on SFO models and the EGAD
dataset suggest that the non-Markov policies significantly outperform the
Markov policy in terms of the sequential failure rate and MPPH. In physical
experiments on 50 heaps of 12 SFOs the most effective Non-Markov policy
increased MPPH over the Dex-Net Markov policy by 107%.Comment: 2020 IEEE International Conference on Automation Science and
Engineering (CASE
Haptic search with the Smart Suction Cup on adversarial objects
Suction cups are an important gripper type in industrial robot applications,
and prior literature focuses on using vision-based planners to improve grasping
success in these tasks. Vision-based planners can fail due to adversarial
objects or lose generalizability for unseen scenarios, without retraining
learned algorithms. We propose haptic exploration to improve suction cup
grasping when visual grasp planners fail. We present the Smart Suction Cup, an
end-effector that utilizes internal flow measurements for tactile sensing. We
show that model-based haptic search methods, guided by these flow measurements,
improve grasping success by up to 2.5x as compared with using only a vision
planner during a bin-picking task. In characterizing the Smart Suction Cup on
both geometric edges and curves, we find that flow rate can accurately predict
the ideal motion direction even with large postural errors. The Smart Suction
Cup includes no electronics on the cup itself, such that the design is easy to
fabricate and haptic exploration does not damage the sensor. This work
motivates the use of suction cups with autonomous haptic search capabilities in
especially adversarial scenarios