Development of a unified system for the autonomous identification and manipulation of 3-D objects with diverse physical properties
Project Principal Investigator(s): Sachit Rao
Collaborative Partner : Greendzine Technologies Pvt Ltd
The focus of this project, one of whose applications is picking items in a warehouse, consists of two main modules:
- A system to identify the position and orientation of 3-D objects. This could be based on a vision system or similar approaches. The 3-D objects can have different shapes, sizes, and weights, in addition to markings such as brand logos. The system should also be able to identify locations on the object which can be used for grasping and manipulation.
- A system to grasp and manipulate the identified object. This could involve the design and development of novel grippers and grasping mechanisms, primarily to be able to handle the diverse 3-D objects. The system should be able to handle varying properties of the objects, such as surface finish, which affects the frictional forces that emerge during grasping, the presence/absence of grasping locations on these objects, and even their weight.