Our team NimbRo Picking came in second at the Amazon Picking Challenge 2016 and the Amazon Robotics Challenge 2017.
Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo,
Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast
Object Learning and Dual-arm Coordination for Cluttered Stowing,
Picking, and Packing
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
RGB-D
Object Detection and Semantic Segmentation for Autonomous
Manipulation in Clutter
International Journal of Robotics Research (IJRR), Sage Publications,
available online,
June 2017.
Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam
Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo
Picking: Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Singapore, May 2017.
[Video]
 |
This project is funded by the FP7 ICT GA 610917. |
The goal of STAMINA is to develop a fleet of autonomous and mobile industrial robots for jointly solving three logistic and handling tasks: de-palletizing, bin-picking, and kitting. The main task of our group is the grasping of parts from transport containers. This includes the detection and pose estimation of parts as well as the grasp and arm motion planning for a robot manipulator.
Seongyong Koo, Grzegorz Ficht, Germán Martín García, Dmytro
Pavlichenko, Martin Raak, and Sven Behnke:
Robolink
Feeder: Reconfigurable Bin-Picking and Feeding with a Lightweight
Cable-Driven Manipulator
In Proceedings of 13th IEEE International Conference on Automation
Science and Engineering (CASE), Xi'an, China, August 2017.
[Video]
Dirk Holz and Sven Behnke:
Fast
Edge-Based Detection and Localization of Transport Boxes and
Pallets in RGB-D Images for Mobile Robot Bin Picking
In Proceedings of 47th International Symposium on Robotics (ISR),
Munich, Germany, June 2016.
Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B. Rusu, and
Sven Behnke:
Registration with the Point
Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler, and
Sven Behnke:
Real-Time
Object Detection, Localization and Verification for Fast Robotic
Depalletizing
In Proceedings of IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS), Hamburg, Germany, September
2015.
[Video]
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco Rovida,Mikkel
Rath Pedersen, Volker Krüger, and Sven Behnke:
A
Skill-Based System for Object Perception and Manipulation for
Automating Kitting Tasks
In Proceedings of 20th IEEE International Conference on
Emerging Technologies and Factory Automation (ETFA), Luxemburg,
September 2015.
Dirk Holz and Sven Behnke:
Approximate
Surface Reconstruction and Registration for RGB-D SLAM
In Proceedings of European
Conference on Mobile Robots (ECMR), Lincoln, UK, September
2015.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler,
Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active
Recognition
and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic
and industrial robotics research in Europe - Technology transfer
experiments from the ECHORD project, vo. 94 of Springer Tracts in
Advanced Robotics (STAR), pp. 133-153, 2014.
Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven Behnke, and
Reinhard Klein:
Combining
Contour
and Shape Primitives for Object Detection and Pose Estimation of
Prefabricated Parts
In Proceedings of IEEE International Conference on Image Processing
(ICIP), Melbourne, Australia, September 2013.
Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Joerg Stückler,
Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with an
Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Karlsruhe, May 2013.
Matthias Nieuwenhuisen, Jörg Stückler, Alexander
Berner, Reinhard Klein, and Sven Behnke:
Shape-Primitive
Based
Object Recognition and Grasping
In Proceedings of 7th German Conference on Robotics (ROBOTIK),
Munich, May 2012.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler,
Sven Behnke, Alexander Berner, and Reinhard Klein:
Active
Recognition
and Manipulation of Objects Based on Shape Primitives
Poster at 5th International Conference on Cognitive Systems (CogSys)
Vienna, February 2012.
University of Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI Impress Data Privacy Statement ; Robotics
Our team NimbRo Picking came in second at the Amazon Picking Challenge 2016 and the Amazon Robotics Challenge 2017.
Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul
Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast
Object
Learning and Dual-arm Coordination for Cluttered Stowing,
Picking, and Packing
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven
Behnke:
RGB-D
Object
Detection and Semantic Segmentation for Autonomous Manipulation in
Clutter
International Journal of Robotics Research (IJRR), Sage
Publications, available
online, June 2017.
Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul
Selvam
Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo
Picking:
Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and
Automation
(ICRA), Singapore, May 2017.
[Video]
|
This project is funded by the FP7 ICT GA 610917. |
The goal of STAMINA is to develop a fleet of autonomous and mobile industrial robots for jointly solving three logistic and handling tasks: de-palletizing, bin-picking, and kitting. The main task of our group is the grasping of parts from transport containers. This includes the detection and pose estimation of parts as well as the grasp and arm motion planning for a robot manipulator.
Seongyong Koo, Grzegorz Ficht, Germán Martín García, Dmytro
Pavlichenko, Martin Raak, and Sven Behnke:
Robolink
Feeder:
Reconfigurable Bin-Picking and Feeding with a Lightweight
Cable-Driven
Manipulator
In Proceedings of 13th IEEE International Conference on Automation
Science and
Engineering (CASE), Xi'an, China, August 2017.
[Video]
Dirk Holz and Sven Behnke:
Fast
Edge-Based
Detection and Localization of Transport Boxes and Pallets in RGB-D
Images for Mobile Robot Bin Picking
In Proceedings of 47th International Symposium on Robotics (ISR),
Munich,
Germany, June 2016.
Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B.
Rusu, and Sven Behnke:
Registration with the
Point
Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler,
and Sven Behnke:
Real-Time
Object
Detection,
Localization and Verification for Fast Robotic
Depalletizing
In Proceedings of IEEE/RSJ
International Conference on Intelligent Robots and Systems
(IROS), Hamburg, Germany, September 2015.
[Video]
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco
Rovida,Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A
Skill-Based
System for Object Perception and Manipulation for Automating Kitting
Tasks
In Proceedings of 20th IEEE International
Conference on Emerging Technologies and
Factory Automation (ETFA), Luxemburg, September 2015.
Dirk Holz and Sven Behnke:
Approximate
Surface
Reconstruction and Registration for RGB-D SLAM
In Proceedings of European
Conference on Mobile Robots (ECMR), Lincoln,
UK, September 2015.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg
Stückler,
Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active
Recognition
and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic
and industrial robotics research in Europe - Technology transfer
experiments from the ECHORD project, vo. 94 of Springer Tracts in
Advanced
Robotics (STAR), pp. 133-153, 2014.
Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven
Behnke, and Reinhard Klein:
Combining
Contour
and Shape Primitives for Object Detection and Pose Estimation
of Prefabricated Parts
In Proceedings of IEEE International Conference on
Image Processing (ICIP), Melbourne, Australia, September 2013.
Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Joerg
Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with
an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Karlsruhe, May 2013.
Matthias Nieuwenhuisen, Jörg Stückler, Alexander
Berner, Reinhard Klein, and Sven Behnke:
Shape-Primitive
Based
Object Recognition and Grasping
In Proceedings of 7th German Conference on Robotics (ROBOTIK),
Munich, May 2012.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg
Stückler, Sven
Behnke, Alexander Berner, and Reinhard Klein:
Active
Recognition
and Manipulation of Objects Based on Shape Primitives
Poster at 5th International Conference on Cognitive Systems (CogSys)
Vienna, February 2012.
University of Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI Impress Data Privacy Statement ; Robotics
Our team NimbRo Picking came in second at the Amazon Picking Challenge 2016 and the Amazon Robotics Challenge 2017.
Volker Krueger, Francesco Rovida, Bjarne Grossmann, Ronald Petrick,
Matthew Crosby, Arnaud Charzoule, German Martin Garcia, Sven Behnke,
Cesar
Toscano, Germano Veiga:
Testing the
Vertical and Cyber-Physical Integration of Cognitive Robots in
Manufacturing
Robotics and Computer-Integrated Manufacturing, vol. 57, pp. 213-229, Elsevier, June
2019.
Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul
Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast
Object
Learning and Dual-arm Coordination for Cluttered Stowing,
Picking, and Packing
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven
Behnke:
RGB-D
Object
Detection and Semantic Segmentation for Autonomous Manipulation in
Clutter
International Journal of Robotics Research (IJRR), Sage
Publications, available
online, June 2017.
Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul
Selvam
Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo
Picking:
Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and
Automation
(ICRA), Singapore, May 2017.
[Video]
|
This project is funded by the FP7 ICT GA 610917. |
The goal of STAMINA is to develop a fleet of autonomous and mobile industrial robots for jointly solving three logistic and handling tasks: de-palletizing, bin-picking, and kitting. The main task of our group is the grasping of parts from transport containers. This includes the detection and pose estimation of parts as well as the grasp and arm motion planning for a robot manipulator.
Volker Krueger, Arnaud Charzoule, Bjarne Grossmann, Cesar Toscano,
Francesco Rovida, German Martin Garcia, Germano Veiga, Matthew Crosby,
Ronald Petrick, and Sven Behnke:
Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing
Accepted for Robotics and Computer-Integrated Manufacturing, Elsevier, to appear 2019.
Dmytro Pavlichenko, Germán Martín García, Seongyong Koo, and
Sven Behnke:
KittingBot: A
Mobile Manipulation Robot for Collaborative Kitting in Automotive
Logistics
Accepted for 15th International Conference on Intelligent Autonomous
Systems (IAS-15), Baden-Baden, Germany, June 2018.
Seongyong Koo, Grzegorz Ficht, Germán Martín García, Dmytro
Pavlichenko, Martin Raak, and Sven Behnke:
Robolink
Feeder:
Reconfigurable Bin-Picking and Feeding with a Lightweight
Cable-Driven
Manipulator
In Proceedings of 13th IEEE International Conference on Automation
Science and
Engineering (CASE), Xi'an, China, August 2017.
[Video]
Dirk Holz and Sven Behnke:
Fast
Edge-Based
Detection and Localization of Transport Boxes and Pallets in RGB-D
Images for Mobile Robot Bin Picking
In Proceedings of 47th International Symposium on Robotics (ISR),
Munich,
Germany, June 2016.
Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B.
Rusu, and Sven Behnke:
Registration with the
Point
Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler,
and Sven Behnke:
Real-Time
Object
Detection,
Localization and Verification for Fast Robotic
Depalletizing
In Proceedings of IEEE/RSJ
International Conference on Intelligent Robots and Systems
(IROS), Hamburg, Germany, September 2015.
[Video]
Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco
Rovida,Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A
Skill-Based
System for Object Perception and Manipulation for Automating Kitting
Tasks
In Proceedings of 20th IEEE International
Conference on Emerging Technologies and
Factory Automation (ETFA), Luxemburg, September 2015.
Dirk Holz and Sven Behnke:
Approximate
Surface
Reconstruction and Registration for RGB-D SLAM
In Proceedings of European
Conference on Mobile Robots (ECMR), Lincoln,
UK, September 2015.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg
Stückler,
Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active
Recognition
and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic
and industrial robotics research in Europe - Technology transfer
experiments from the ECHORD project, vo. 94 of Springer Tracts in
Advanced
Robotics (STAR), pp. 133-153, 2014.
Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven
Behnke, and Reinhard Klein:
Combining
Contour
and Shape Primitives for Object Detection and Pose Estimation
of Prefabricated Parts
In Proceedings of IEEE International Conference on
Image Processing (ICIP), Melbourne, Australia, September 2013.
Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Joerg
Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with
an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Karlsruhe, May 2013.
Matthias Nieuwenhuisen, Jörg Stückler, Alexander
Berner, Reinhard Klein, and Sven Behnke:
Shape-Primitive
Based
Object Recognition and Grasping
In Proceedings of 7th German Conference on Robotics (ROBOTIK),
Munich, May 2012.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg
Stückler, Sven
Behnke, Alexander Berner, and Reinhard Klein:
Active
Recognition
and Manipulation of Objects Based on Shape Primitives
Poster at 5th International Conference on Cognitive Systems (CogSys)
Vienna, February 2012.
University of Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI Impress Data Privacy Statement ; Robotics
