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Towards Autonomous Retail Stocking and Picking: Methods Enabling Robust Vacuum-Based Robotic Manipulation in Densely

Peter Kmecl1, Marko Munih1, Janez Podobnik1

  • 1Faculty of Electrical Engineering, University of Ljubljana, Tržaška Cesta 25, 1000 Ljubljana, Slovenia.

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Summary
This summary is machine-generated.

This study introduces adaptive vacuum grippers and a new metric, grasp shear force resilience, to improve robotic grasping of diverse retail items. The adaptive grippers enhance manipulation stability and adaptability, outperforming some commercial solutions.

Keywords:
dense object detectiongraspingknowledge representationretail automationservice roboticsvacuum actuators

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Area of Science:

  • Robotics and Artificial Intelligence
  • Automation in Retail Environments

Background:

  • Increasing demand for automation in retail due to labor shortages and efficiency needs.
  • Challenges in robotic manipulation within densely packed retail shelves with diverse object shapes.
  • Limitations of current vacuum-based grasping technologies in adapting to various object geometries.

Purpose of the Study:

  • To propose a framework for robotic grasping in retail settings.
  • To develop an adaptive vacuum-based grasping solution for retail environments.
  • To introduce a novel evaluation metric, grasp shear force resilience, for assessing robotic grasp stability.

Main Methods:

  • Development of an adaptive vacuum-based grasping system.
  • Introduction and application of the grasp shear force resilience metric.
  • Testing the system's performance across a range of retail object shapes and sizes.

Main Results:

  • Adaptive suction cups demonstrated successful handling of diverse object shapes and sizes.
  • The proposed solution showed superior adaptability compared to some commercial alternatives.
  • The grasp shear force resilience metric provided insights into object behavior under manipulation stresses.

Conclusions:

  • Adaptive vacuum grasping is effective for retail automation challenges.
  • The grasp shear force resilience metric offers valuable data for optimizing robotic grasping.
  • The developed framework and solution enhance robotic picking and restocking capabilities in retail.