A new approach to the problem of acquiring randomly oriented workpieces out of a bin

Authors:
J. D. Boissonnat;F. Germain
Affiliations:
INRIA, Le Chesnay, France;INRIA, Le Chesnay, France
Venue:
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Year:
1981

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Abstract

A complete solution to the problem cf picking randomly oriented workpieces out of a bin is presented. The geometry of the workpieces is arbitrary, the only parameters to be known are those of the grasper. The paper includes a description of the 3-D sensor and of the algorithm involved.