Interactive Singulation of Objects from a Pile, Lillian Chang, Joshua R. Smith, Dieter Fox, submitted to ICRA 2012.
Interactive Singulation of Objects from a Pile, Lillian Chang, Joshua R. Smith, Dieter Fox, IROS 2011 PR2 Workshop.
We are investigating strategies for robot interaction with piles of objects and materials in cluttered scenes. In particular, interaction with unstructured sets of objects will allow a robot to explore and manipulate novel items, in order to perform useful tasks such as counting, arranging, or sorting even without having a prior model of the objects.
In this video, interactive singulation is demonstrated for an item arrangement task with Hobbes, the Sensor System Lab's PR2 (Willow Garage) robot platform. The robot accumulates evidence of singulated items over multiple interactions with parts of a pile. The proposed interactive singulation method and perceptual module determines when items have been singulated from the pile and reduces the number of grasp attempt errors that occur with nonsingulated piles.
(c) 2011, all rights reserved. Contact: Professor Joshua R. Smith, firstname.lastname@example.org