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2017
Journal Article
Title
Gripping point determination for bin picking using heuristic search
Abstract
Random bin picking is often considered primarily to be an object localization problem. However, the determination of a suitable grasp in a given situation is an equally important part of picking chaotically stored objects for which only few solutions exist. This paper presents a novel approach by representing the localized workpieces and possible grasps by a tree and using heuristic search to determine a feasible gripping solution in a short time. The proposed heuristic function is based on collision testing and a statistical evaluation of the likelihood for a collision-free grasp. Finally, the presented search method is experimentally validated.