End-to-end Robotic Solution for Product Packaging

Speaker :
Miss. Qianyi XU
Department of Mechanical and Aerospace Engineering, HKUST
Date : 4 Sep 2019 (Wed)
Time : 10:30 am
Venue : Room 2548 & 2549, HKUST (2/F., Lift #27/28)


In this thesis, a set of novel robotic techniques relevant to the product packaging processes is devised and implemented. This work has been motivated by a variety of applications in industrial scenarios, which require picking objects of small thickness from unstructured piles on flat supporting ground and proceeding various secondary tasks such as carton folding and packaging. Desirable robotic solutions is expected to be robust, stable and easily deployable with minimalistic hardware settings applicable. The challenge of the effective solution to these tasks relates to design complete architecture that appropriately integrate multiple components ranging from perception to execution.

This work proposes a pipeline for addressing the packaging tasks, with a simple conventional parallel-jaw gripper installed on industrial robot and sensing modalities. The techniques include key manipulation primitives featuring in-hand manipulation that we call tilt-and-pivot manipulation and non-prehensile manipulation which takes advantage of the environment. The overall picking solution is demonstrated to be effective on a wide range of large and thin objects with high success rates. In addition, the manipulation techniques to the task of carton box picking and folding, blister pack handling, which typically constitute the packaging processes, are performed using vision and force/torque sensing.

(Supervisor: Prof. Jungwon SEO)