Revolutionizing Packaging: A Robotic Bagging Pipeline with Constraint-aware Structure-of-Interest Planning Article Swipe
Jiaming Qi
,
Peng Zhou
,
Pai Zheng
,
Hongmin Wu
,
Chenguang Yang
,
David Navarro-Alarcón
,
Jia Pan
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2403.10309
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2403.10309
Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive structure-of-interest (SOI) manipulation approach. Our method relies on real-time visual feedback to dynamically adjust manipulation without requiring prior knowledge of bag materials or dynamics. We present a robust pipeline featuring state estimation for SOIs using Gaussian Mixture Models (GMM), SOI generation via optimization-based bagging techniques, SOI motion planning with Constrained Bidirectional Rapidly-exploring Random Trees (CBiRRT), and dual-arm manipulation coordinated by Model Predictive Control (MPC). Experiments demonstrate the system's ability to achieve precise, stable bagging of various objects using adaptive coordination of the manipulators. The proposed framework advances the capability of dual-arm robots to perform more sophisticated automation of common tasks involving interactions with deformable objects.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2403.10309
- https://arxiv.org/pdf/2403.10309
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4392931903
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4392931903Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2403.10309Digital Object Identifier
- Title
-
Revolutionizing Packaging: A Robotic Bagging Pipeline with Constraint-aware Structure-of-Interest PlanningWork title
- Type
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preprintOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
-
2024-03-15Full publication date if available
- Authors
-
Jiaming Qi, Peng Zhou, Pai Zheng, Hongmin Wu, Chenguang Yang, David Navarro-Alarcón, Jia PanList of authors in order
- Landing page
-
https://arxiv.org/abs/2403.10309Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2403.10309Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2403.10309Direct OA link when available
- Concepts
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Pipeline (software), Constraint (computer-aided design), Computer science, Artificial intelligence, Engineering, Operating system, Mechanical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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