Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments

Philip Lund Møller; Milad Jami; Karl Damkjær Hansen; Dimitrios Chrysostomou

doi:10.1109/IST59124.2023.10355656

Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments

Philip Lund Møller, Milad Jami, Karl Damkjær Hansen, Dimitrios Chrysostomou^*

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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Abstract

Manual batch kitting in pharmaceutical manufacturing is labor intensive and prone to quality issues. Automation can improve productivity and reduce risks, but handling dynamic warehouse environments is challenging. This paper studies the feasibility of integrating autonomous industrial mobile manipulators (AIMMs) to enable flexible kitting without infrastructure changes. We propose an adaptive perception and manipulation system for localizing and grasping pharmaceutical containers from variable rack placements. Fiducial markers provide approximate navigation for the mobile base, then point cloud processing precisely estimates container poses for manipulation even under tight spacing and occlusion constraints. The key technical contribution is a segmentation approach leveraging the viewpoint to isolate the target container’s front plane for robust localization. The proposed system was evaluated in a mock pharmaceutical kitting environment where it localized containers with an average translation and orientation error of respectively 6mm and 1.6 degree. Finally, it achieved a success rate of 96.66% for the kitting of individual containers.

Original language	English
Title of host publication	IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings
Publisher	IEEE Signal Processing Society
Publication date	2023
ISBN (Electronic)	9798350330830
DOIs	https://doi.org/10.1109/IST59124.2023.10355656
Publication status	Published - 2023
Event	IEEE International Conference on Imaging Systems and Techniques (IST 2023) - Technical University of Denmark, Copenhagen, Denmark Duration: 17 Oct 2023 → 19 Oct 2023 Conference number: 19 https://ist2023.ieee-ims.org/

Conference

Conference	IEEE International Conference on Imaging Systems and Techniques (IST 2023)
Number	19
Location	Technical University of Denmark
Country/Territory	Denmark
City	Copenhagen
Period	17/10/2023 → 19/10/2023
Internet address	https://ist2023.ieee-ims.org/

Series	IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

robotic kitting
autonomous mobile robots
industry 4.0
point cloud processing
pose estimation
spot robot
robotics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IST59124.2023.10355656Licence: CC BY 4.0

IST2023_Robotic.Kitting Accepted author manuscript, 2.29 MBLicence: CC BY 4.0

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Møller, Philip Lund ; Jami, Milad ; Hansen, Karl Damkjær et al. / Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments. IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings. IEEE Signal Processing Society, 2023. (IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings).

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title = "Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments",

abstract = "Manual batch kitting in pharmaceutical manufacturing is labor intensive and prone to quality issues. Automation can improve productivity and reduce risks, but handling dynamic warehouse environments is challenging. This paper studies the feasibility of integrating autonomous industrial mobile manipulators (AIMMs) to enable flexible kitting without infrastructure changes. We propose an adaptive perception and manipulation system for localizing and grasping pharmaceutical containers from variable rack placements. Fiducial markers provide approximate navigation for the mobile base, then point cloud processing precisely estimates container poses for manipulation even under tight spacing and occlusion constraints. The key technical contribution is a segmentation approach leveraging the viewpoint to isolate the target container{\textquoteright}s front plane for robust localization. The proposed system was evaluated in a mock pharmaceutical kitting environment where it localized containers with an average translation and orientation error of respectively 6mm and 1.6 degree. Finally, it achieved a success rate of 96.66% for the kitting of individual containers.",

keywords = "robotic kitting, autonomous mobile robots, industry 4.0, point cloud processing, pose estimation, spot robot, robotics",

author = "M{\o}ller, {Philip Lund} and Milad Jami and Hansen, {Karl Damkj{\ae}r} and Dimitrios Chrysostomou",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; IEEE International Conference on Imaging Systems and Techniques (IST 2023), IST ; Conference date: 17-10-2023 Through 19-10-2023",

year = "2023",

doi = "10.1109/IST59124.2023.10355656",

language = "English",

series = "IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings",

booktitle = "IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings",

publisher = "IEEE Signal Processing Society",

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url = "https://ist2023.ieee-ims.org/",

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Møller, PL, Jami, M, Hansen, KD & Chrysostomou, D 2023, Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments. in IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings. IEEE Signal Processing Society, IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings, IEEE International Conference on Imaging Systems and Techniques (IST 2023), Copenhagen, Denmark, 17/10/2023. https://doi.org/10.1109/IST59124.2023.10355656

Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments. / Møller, Philip Lund; Jami, Milad; Hansen, Karl Damkjær et al.
IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings. IEEE Signal Processing Society, 2023. (IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments

AU - Møller, Philip Lund

AU - Jami, Milad

AU - Hansen, Karl Damkjær

AU - Chrysostomou, Dimitrios

N1 - Conference code: 19

PY - 2023

Y1 - 2023

N2 - Manual batch kitting in pharmaceutical manufacturing is labor intensive and prone to quality issues. Automation can improve productivity and reduce risks, but handling dynamic warehouse environments is challenging. This paper studies the feasibility of integrating autonomous industrial mobile manipulators (AIMMs) to enable flexible kitting without infrastructure changes. We propose an adaptive perception and manipulation system for localizing and grasping pharmaceutical containers from variable rack placements. Fiducial markers provide approximate navigation for the mobile base, then point cloud processing precisely estimates container poses for manipulation even under tight spacing and occlusion constraints. The key technical contribution is a segmentation approach leveraging the viewpoint to isolate the target container’s front plane for robust localization. The proposed system was evaluated in a mock pharmaceutical kitting environment where it localized containers with an average translation and orientation error of respectively 6mm and 1.6 degree. Finally, it achieved a success rate of 96.66% for the kitting of individual containers.

AB - Manual batch kitting in pharmaceutical manufacturing is labor intensive and prone to quality issues. Automation can improve productivity and reduce risks, but handling dynamic warehouse environments is challenging. This paper studies the feasibility of integrating autonomous industrial mobile manipulators (AIMMs) to enable flexible kitting without infrastructure changes. We propose an adaptive perception and manipulation system for localizing and grasping pharmaceutical containers from variable rack placements. Fiducial markers provide approximate navigation for the mobile base, then point cloud processing precisely estimates container poses for manipulation even under tight spacing and occlusion constraints. The key technical contribution is a segmentation approach leveraging the viewpoint to isolate the target container’s front plane for robust localization. The proposed system was evaluated in a mock pharmaceutical kitting environment where it localized containers with an average translation and orientation error of respectively 6mm and 1.6 degree. Finally, it achieved a success rate of 96.66% for the kitting of individual containers.

KW - robotic kitting

KW - autonomous mobile robots

KW - industry 4.0

KW - point cloud processing

KW - pose estimation

KW - spot robot

KW - robotics

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U2 - 10.1109/IST59124.2023.10355656

DO - 10.1109/IST59124.2023.10355656

M3 - Article in proceeding

T3 - IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings

BT - IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings

PB - IEEE Signal Processing Society

T2 - IEEE International Conference on Imaging Systems and Techniques (IST 2023)

Y2 - 17 October 2023 through 19 October 2023

ER -

Møller PL, Jami M, Hansen KD, Chrysostomou D. Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments. In IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings. IEEE Signal Processing Society. 2023. (IST 2023 - IEEE International Conference on Imaging Systems and Techniques, Proceedings). doi: 10.1109/IST59124.2023.10355656

Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments

Abstract

Conference

Bibliographical note

Keywords

UN SDGs

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AUB Link

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IEEE International Conference on Imaging Systems and Techniques (IST 2023)

Cite this

Adaptive Perception and Manipulation for Autonomous Robotic Kitting in Dynamic Warehouse Environments

Abstract

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

AUB Link

Other files and links

Fingerprint

Activities

IEEE International Conference on Imaging Systems and Techniques (IST 2023)

Cite this