Abstract
Individualized manufacturing of cars requires kitting: the collection of individual sets of part variants for each car. This challenging logistic task is frequently performed manually by warehouseman. We propose a mobile manipulation robotic system for autonomous kitting, building on the Kuka Miiwa platform which consists of an omnidirectional base, a 7 DoF collaborative iiwa manipulator, cameras, and distance sensors. Software modules for detection and pose estimation of transport boxes, part segmentation in these containers, recognition of part variants, grasp generation, and arm trajectory optimization have been developed and integrated. Our system is designed for collaborative kitting, i.e. some parts are collected by warehouseman while other parts are picked by the robot. To address safe human-robot collaboration, fast arm trajectory replanning considering previously unforeseen obstacles is realized. The developed system was evaluated in the European Robotics Challenge 2, where the Miiwa robot demonstrated autonomous kitting, part variant recognition, and avoidance of unforeseen obstacles.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
EuRoC Challenge 2: http://www.euroc-project.eu/index.php?id=challenge_2.
- 2.
Peugeot Citroën Automobiles S.A.: https://www.groupe-psa.com.
- 3.
European FP7 project STAMINA: http://stamina-robot.eu.
- 4.
Diligent Robotics: http://diligentrobots.com.
- 5.
Experiment video: http://www.ais.uni-bonn.de/videos/IAS_2018_KittingBot.
References
Dömel, A., Kriegel, S., Kaßecker, M., Brucker, M., Bodenmüller, T., Suppa, M.: Toward fully autonomous mobile manipulation for industrial environments. Int. J. Adv. Robot. Syst. 14 (2017)
Nieuwenhuisen, M., Droeschel, D., Holz, D., Stückler, J., Berner, A., Li, J., Klein, R., Behnke, S.: Mobile bin picking with an anthropomorphic service robot. In: IEEE International Conference on Robotics and Automation (ICRA) (2013)
Stückler, J., Schwarz, M., Behnke, S.: Mobile manipulation, tool use, and intuitive interaction for cognitive service robot Cosero. Frontiers in Robotics and AI (2016)
Berner, A., Li, J., Holz, D., Stückler, J., Behnke, S., Klein, R.: Combining contour and shape primitives for object detection and pose estimation of prefabricated parts. In: IEEE International Conference on Image Processing (ICIP) (2013)
Krueger, V., Chazoule, A., Crosby, M., Lasnier, A., Pedersen, M.R., Rovida, F., Nalpantidis, L., Petrick, R., Toscano, C., Veiga, G.: A vertical and cyber-physical integration of cognitive robots in manufacturing. Proc. IEEE 104, 1114–1127 (2016)
Rovida, F., Crosby, M., Holz, D., Polydoros, A.S., Großmann, B., Petrick, R.P.A., Krüger, V.: SkiROS—a skill-based robot control platform on top of ROS. In: Robot Operating System (ROS): The Complete Reference, pp. 121–160 (2017)
Pedersen, M.R., Nalpantidis, L., Andersen, R.S., Schou, C., Bøgh , S., Krüger, V., Madsen, O.: Robot skills for manufacturing: from concept to industrial deployment. Robot. Comput. Integr. Manuf., 282–291 (2016)
Holz, D., Topalidou-Kyniazopoulou, A., Stückler, J., Behnke, S.: Real-time object detection, localization and verification for fast robotic depalletizing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015, pp. 1459–1466 (2015)
Crosby, M., Petrick, R., Toscano, C., Dias, R., Rovida, F., Krüger, V.: Integrating mission, logistics, and task planning for skills-based robot control in industrial kitting applications. In: Proceedings of the 34th Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG), pp. 135–174 (2017)
Krug, R., Stoyanov, T., Tincani, V., Andreasson, H., Mosberger, R., Fantoni, G., Lilienthal, A.J.: The next step in robot commissioning: autonomous picking and palletizing. IEEE Robot. Autom. Lett., 546–553 (2016)
Berenson, D., Srinivasa, S., Kuffner, J.: Task space regions: a framework for pose-constrained manipulation planning. Int. J. Robot. Res. (IJRR), 1435–1460 (2011)
Gienger, M., Toussaint, M., Goerick, C.: Task maps in humanoid robot manipulation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2008)
Srinivasa, S.S., Johnson, A.M., Lee, G., Koval, M.C., Choudhury, S., King, J.E., Dellin, C.M., Harding, M., Butterworth, D.T., Velagapudi, P., Thackston, A.: A system for multi-step mobile manipulation: architecture, algorithms, and experiments. In: 2016 International Symposium on Experimental Robotics, pp. 254–265 (2017)
Holz, D., Behnke:, S.: Fast edge-based detection and localization of transport boxes and pallets in RGB-D images for mobile robot bin picking. In: International Symposium on Robotics (ISR) (2016)
Choi, C., Trevor, A.J.B., Christensen, H.I.: RGB-D edge detection and edge-based registration. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2013)
Holz, D., Holzer, S., Rusu, R.B., Behnke, S.: Real-time plane segmentation using RGB-D cameras. In: RoboCup 2011: Robot Soccer World Cup XV, pp. 306–317 (2012)
Holz, D., Ichim, A.E., Tombari, F., Rusu, R.B., Behnke, S.: Registration with the point cloud library: a modular framework for aligning in 3-D. IEEE Robot. Autom. Mag. 22, 110–124 (2015)
Pavlichenko, D., Behnke, S.: Efficient stochastic multicriteria arm trajectory optimization. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017)
Kalakrishnan, M., Chitta, S., Theodorou, E., Pastor, P., Schaal, S.: STOMP: stochastic trajectory optimization for motion planning. In: IEEE International Conference on Robotics and Automation (ICRA) (2011)
Acknowledgements
This research received funding from the European Union’s Seventh Framework Programme grant agreement no. 608849 (EuRoC). It was performed in collaboration with our end-user partner Peugeot Citroën Automobiles S.A. (PSA). We also gratefully acknowledge the support of the EuRoC Challenge 2 host: DLR Institute of Robotics and Mechatronics in Oberpfaffenhofen, Germany.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Pavlichenko, D., García, G.M., Koo, S., Behnke, S. (2019). KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_66
Download citation
DOI: https://doi.org/10.1007/978-3-030-01370-7_66
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01369-1
Online ISBN: 978-3-030-01370-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)