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Separating Entangled Workpieces in Random Bin Picking using Deep Reinforcement Learning

: Moosmann, Marius; Kulig, Marco; Spenrath, Felix; Mönnig, Manuel; Roggendorf, Simon; Petrovic, Oliver; Bormann, Richard; Huber, Marco

Fulltext ()

Procedia CIRP 104 (2021), pp.881-886
ISSN: 2212-8271
Conference on Manufacturing Systems (CMS) <54, 2021, Online>
Journal Article, Electronic Publication
Fraunhofer IPA ()
bin-picking; deep learning; Bestärkendes Lernen; deep grasping; maschinelles Lernen

Entangled workpiece situations often occur in random bin picking of chaotically stored objects and are a common source of problem in the bin picking process. Previous methods for averting this problem, such as randomly shaking the gripper over the bin, lead to decreasing production efficiency and an increase in cycle time. A promising new strategy uses supervised learning and deep neural networks to learn the separation. However, this approach requires a large amount of labeled data. To overcome this issue, this paper proposes a deep reinforcement learning approach to separate entangled workpieces and to minimize the setup effort.