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- W2014568170 abstract "Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined with pushing actions accumulates evidence of singulated items over multiple pile interactions. A decision module scores the likelihood of a single-item pile to a multiple-item pile based on the magnitude of motion and matching determined from the perception module. Three variations of the singulation framework were evaluated on a physical robot for an arrangement task. The proposed interactive singulation method with adaptive pushing reduces the grasp errors on non-singulated piles compared to alternative methods without the perception and decision modules. This work contributes the general pile interaction framework, a specific method for integrating perception and action plans with grasp decisions, and an experimental evaluation of the cost trade-offs for different singulation methods." @default.
- W2014568170 created "2016-06-24" @default.
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- W2014568170 date "2012-05-01" @default.
- W2014568170 modified "2023-10-06" @default.
- W2014568170 title "Interactive singulation of objects from a pile" @default.
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- W2014568170 doi "https://doi.org/10.1109/icra.2012.6224575" @default.
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