Dig-Grasping via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking

Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences

Recent results suggest that it is possible to grasp a variety of singulated objects with high precision using Convolutional Neural Networks (CNNs) trained on synthetic data. This paper considers the task of bin picking, where multiple objects are randomly arranged in a heap and the objective is to sequentially grasp and transport each into a packing box. We model bin picking with a discrete-tim...

Fast Object Registration and Robotic Bin Picking

Businesses have invested a lot of money into intelligent machine vision, industrial robotics and automation technology. The proposed solution of this paper deals with industrial applications of robotic bin picking. In this paper, a pose estimation approach is introduce to determine the coarse position and rotation of a known object using commonly available image processing tools applied to 3D l...

Effective description of the interaction between anisotropic viscous fingers

We study patterns formed by viscous fingering in a rectangular network of microfluidic channels. Due to the strong anisotropy of such a system, the emerging patterns have a form of thin needle-like fingers, which interact with each other, competing for an available flow. We develop an upscaled description of this system in which only the fingers are tracked and the effective interactions betwee...

Direct animation interfaces: an interaction approach to computer animation

Generating an interpretation tree from a CAD model to represent object configurations for bin-picking tasks

This research was sponsored by the Defense Advanced Research Projects Agency, DOD, through A R P A Order No. 4976, and monitored by the Air Force Avionics Laboratory under contract F33615-84-K-1520. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Defense Advance...