Manipulation in Clutter

(aka "Bin Picking")

Part 2

MIT 6.800/6.843:

Robotic Manipulation

Fall 2021, Lecture 9

Follow live at https://slides.com/d/Nbctdyc/live

(or later at https://slides.com/russtedrake/fall21-lec09)

Course Roadmap

1. Basic pick and place:
   • single known object
   • assuming known pose
2. Geometric perception
   • single known object
   • unknown pose
3. This week
   • ​​many/diverse unknown objects
   • unknown poses
   • simple task: "clutter clearing"

"Clutter clearing" (an early project at TRI)

Initial conditions by searching for static equilibria

Initial conditions using simulation

YCB Benchmarks – Object and Model Set

Grasp analysis / optimization

(unpublished) work by Lucas Manuelli ~2017.  No deep learning -- this is geometry only.

Voxelization

http://www.open3d.org/docs/latest/tutorial/Advanced/voxelization.html

Limitations of using geometry only

• No understanding of what an object is.
  • "Double picks"
  • Might pick up a heavy object from one corner
• Partial views
• Depth returns don't work for transparent objects
• ...