Stable bin packing of non-convex 3D objects with a robot manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain. Besides minimizing waste space inside a container, the problem requires stability of the object pile during packing and the feasibility of the robot motion executing the placement plans. To address this problem, a set of constraints are formulated, and a constructive packing pipeline is proposed to solve these constraints. The pipeline is able to pack geometrically complex, non-convex objects while satisfying stability and robot packability constraints. In particular, a new 3D positioning heuristic called Heightmap-Minimization heuristic is proposed, and heightmaps are used to speed up the search. Experimental evaluation of the method is conducted with a realistic physical simulator on a dataset of scanned real-world items, demonstrating stable and high-quality packing plans compared with other 3D packing methods.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8698-8704
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Fingerprint

Bins
Manipulators
Robots
Pipelines
Warehouses
Piles
Containers
Robotics
Simulators

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Wang, F., & Hauser, K. K. (2019). Stable bin packing of non-convex 3D objects with a robot manipulator. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 8698-8704). [8794049] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794049

Stable bin packing of non-convex 3D objects with a robot manipulator. / Wang, Fan; Hauser, Kristoffer Karl.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 8698-8704 8794049 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wang, F & Hauser, KK 2019, Stable bin packing of non-convex 3D objects with a robot manipulator. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794049, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 8698-8704, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8794049
Wang F, Hauser KK. Stable bin packing of non-convex 3D objects with a robot manipulator. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 8698-8704. 8794049. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8794049
Wang, Fan ; Hauser, Kristoffer Karl. / Stable bin packing of non-convex 3D objects with a robot manipulator. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 8698-8704 (Proceedings - IEEE International Conference on Robotics and Automation).
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