Spenrath, F.F.SpenrathPott, A.A.Pott2022-03-052022-03-052017https://publica.fraunhofer.de/handle/publica/24940010.1016/j.procir.2016.06.015Random 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.enjournal article