2023/02/15 by Benedikt Kreis, Kreis, Benedikt, Rohit Menon +7
Engineering · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO) #Robotics and Automated Systems #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2302.07795
openalex publication_date 2023/02/15 · openalex created_date 2023/02/18 · openalex updated_date 2026/07/28
When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps of the manipulation process. Ignoring such errors can lead to the partial or complete failure of the arrangement. In this paper, we present a novel approach to autonomously detect and correct misplaced objects by pushing them with a robotic arm. We thoroughly tested our approach both in simulation and on real hardware using a Robotiq two-finger gripper mounted on a UR5 robotic arm. In our evaluation, we demonstrate the successful compensation for different errors injected during the manipulation of regular shaped objects. Consequently, we achieve a highly reliable object placement accuracy in the millimeter range.