Optimized Grasp Planning for Bin-Picking Robots with 2D and 3D Sensor Data
- Bin-picking systems face challenges in fully emptying containers due to Collision risks in real-world scenarios. In this contribution, we present a grasp planning approach that combines 2D and 3D sensor data to ensure collision-free handling. The method is successfully tested on objects with eccentric centers of mass and is implemented directly on the robot’s control unit, eliminating the need forBin-picking systems face challenges in fully emptying containers due to Collision risks in real-world scenarios. In this contribution, we present a grasp planning approach that combines 2D and 3D sensor data to ensure collision-free handling. The method is successfully tested on objects with eccentric centers of mass and is implemented directly on the robot’s control unit, eliminating the need for separate computing hardware.…
Download full text files
Additional Services
Statistics
| Document Type: | Conference Proceeding |
|---|---|
| Conference Type: | Konferenzartikel |
| Zitierlink: | https://opus.hs-offenburg.de/10911 | Bibliografische Angaben |
| Title (English): | Optimized Grasp Planning for Bin-Picking Robots with 2D and 3D Sensor Data |
| Conference: | Sensor and Measurement Science International (4. : 06.05.2025-08.05.2025 : Nürnberg) |
| Author: | Roman HaasStaff MemberORCiD, Nikolai HangstStaff MemberORCiDGND, Thomas WendtStaff MemberORCiDGND |
| Year of Publication: | 2025 |
| Place of publication: | Wunstorf, Germany |
| Publisher: | AMA Service GmbH |
| First Page: | 155 |
| Last Page: | 156 |
| Article Number: | C4.3 |
| Parent Title (English): | SMSI 2025, Sensor and Measurement Science International |
| ISBN: | 978-3-910600-06-5 |
| DOI: | https://doi.org/10.5162/SMSI2025/C4.3 |
| URN: | https://urn:nbn:de:bsz:ofb1-opus4-109113 |
| Language: | English | Inhaltliche Informationen |
| Institutes: | Fakultät Wirtschaft (W) |
| Research: | WLRI - Work-Life Robotics Institute |
| Collections of the Offenburg University: | Bibliografie |
| Tag: | bin-picking; grasp planning; object detection; robotics; sensor fusion | Formale Angaben |
| Relevance for "Jahresbericht über Forschungsleistungen": | 1-fach | Konferenzbeitrag |
| Open Access: | Open Access |
| Bronze | |
| Licence (German): |  Urheberrechtlich geschützt |