Work on Robust Product Packing with a Minimalistic End-effector

Robust Product Packing:

A website has been set up to document out recent efforts at exploring robust product packing pipelines.

The work features the Kuka robot with a suction end-effector. The target of this work is to address warehouse automation requirements to pick up cuboidal objects from a pile, in a source bin, and pack them in a tight grid in a target box. The use of robust primitives like toppling, pushing and corrective actions helps mitigate errors of perception and execution to allow target arrangements of products in very tight configurations. Upwards of 50 real-world experiments were performed to evaluate the efficacy of the proposed primitives.

View of the setup showing the robot and the workspace

The work is currently under review at IEEE International Conference on Robotics and Automation (ICRA), 2019.